Publications

Safe navigation using Neural Control Barrier Functions (NCBFs) for aerial robots.

Deep reinforcement learning approach for inspection path planning with semantic awareness.

Various open-source tools and frameworks for robotics and simulation.

Winning team (Team CERBERUS) of the DARPA Subterranean Challenge.

A unified pilot for enabling GPS-denied autonomy across different robotic embodiments.

Autonomous navigation using aerial robots with semantic awareness for collision prediction.

Teamed exploration of subterranean environments using legged and aerial robots.

A field-tested autonomy architecture commanding a diverse set of robots.

General visual inspection of ship ballast water tanks using aerial robots.

A Multi-Modal SLAM Framework for resilience against sensor degradation.

Task-driven compression method for collision encoding based on depth images.

Exploiting Deep Collision Encoding for autonomous flight in dense environments.

A framework for highly parallelized simulation of aerial robots based on NVIDIA Isaac Gym.

A collision-tolerant flying robot for autonomous subterranean exploration.

Autonomous mapping and spectroscopic analysis of distributed radiation fields using aerial robots.

Shape and motion planning for a reconfigurable aerial robotic system.