Journal Publications

  1. Semantically-Driven Deep Reinforcement Learning for Inspection Path Planning, G. Malczyk, M. Kulkarni and K. Alexis, IEEE Robotics and Automation Letters, 2025. DOI
  2. Aerial Gym Simulator: A Framework for Highly Parallelized Simulation of Aerial Robots, M. Kulkarni, W. Rehberg and K. Alexis, IEEE Robotics and Automation Letters, 2025. DOI
  3. Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned, M. Tranzatto, et al., Field Robotics, 2022. Link
  4. CERBERUS in the DARPA Subterranean Challenge, M. Tranzatto, et al., Science Robotics, 2022. Link
  5. Autonomous Mapping and Spectroscopic Analysis of Distributed Radiation Fields using Aerial Robots, F. Mascarich, M. Kulkarni, P. de Petris, T. Wilson, K. Alexis, Autonomous Robots, 2022. DOI
  6. CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge, M. Tranzatto, et al., Field Robotics, 2022. Link

Conference Publications

  1. UniPilot: Enabling GPS-Denied Autonomy Across Embodiments, M. Kulkarni, et al., IEEE International Conference on Advanced Robotics (ICAR), 2025. Link
  2. Neural Control Barrier Functions for Safe Navigation, M. Harms, M. Kulkarni, N. Khedekar, M. Jacquet, K. Alexis, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024. Link
  3. Reinforcement Learning for Collision-free Flight Exploiting Deep Collision Encoding, M. Kulkarni and K. Alexis, IEEE International Conference on Robotics and Automation (ICRA), 2024. Link
  4. Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots, M. Dharmadhikari, et al., IEEE International Conference on Advanced Robotics (ICAR), 2023. Winner - Best Paper Award. Link
  5. Task-driven Compression for Collision Encoding based on Depth Images, M. Kulkarni and K. Alexis, International Symposium on Visual Computing (ISVC), 2023. Link
  6. Semantically-enhanced Deep Collision Prediction for Autonomous Navigation using Aerial Robots, M. Kulkarni, H. Nguyen, and K. Alexis, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023. Link
  7. Manhole Detection and Traversal for Exploration of Ballast Water Tanks using Micro Aerial Vehicles, M. Dharmadhikari, et al., International Conference on Unmanned Aircraft Systems (ICUAS), 2023. Link
  8. MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation, N. Khedekar, M. Kulkarni and K. Alexis, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022. DOI
  9. RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration, P. De Petris, et al., International Conference on Unmanned Aircraft Systems (ICUAS), 2022. Link
  10. Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots, M. Kulkarni, et al., IEEE International Conference on Robotics and Automation (ICRA), 2022. Winner - Outstanding Deployed Systems Paper Award. Link
  11. Resilient Collision-tolerant Navigation in Confined Environments, P. De Petris, et al., IEEE International Conference on Robotics and Automation (ICRA), 2021. Link
  12. The Reconfigurable Aerial Robotic Chain: Shape and Motion Planning, M. Kulkarni, H. Nguyen, and K. Alexis, IFAC World Congress, 2020. Link

Whitepapers

  1. Isaac Lab: A GPU Accelerated Simulation Framework For Multi-Modal Robot Learning, M. Mittal et al., 2025. Link
  2. The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy, M. Dharmadhikari et al., 2023. Link

Book Chapters

  1. Aerial Field Robotics, Mihir Kulkarni, Brady Moon, Sebastian Scherer, Kostas Alexis, Encyclopedia of Robotics. DOI