Mihir Rahul Dharmadhikari
Publications
2025
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Kulkarni, Mihir Vinay;
Dharmadhikari, Mihir Rahul;
Khedekar, Nikhil Vijay;
Nissov, Morten;
Mohit Singh;
Weiss, Philipp;
Alexis, Konstantinos.
(2025)
UniPilot: Enabling GPS-Denied Autonomy Across Embodiments.
Academic chapter
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Zacharia, Angelos;
Dharmadhikari, Mihir Rahul;
Alexis, Konstantinos.
(2025)
Collaborative Exploration With a Marsupial Ground-Aerial Robot Team Through Task-Driven Map Compression.
IEEE Robotics and Automation Letters
Academic article
-
Dharmadhikari, Mihir Rahul;
Alexis, Konstantinos.
(2025)
Semantics-aware Predictive Inspection Path Planning.
IEEE Transactions on Field Robotics (T-FR)
Academic article
2024
-
Mohit Singh;
Dharmadhikari, Mihir Rahul;
Alexis, Konstantinos.
(2024)
An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
2023
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Dharmadhikari, Mihir;
de Petris, Paolo;
Kulkarni, Mihir;
Khedekar, Nikhil Vijay;
Nguyen, Dinh Huan;
Stene, Arnt Erik;
Sjøvold, Eivind;
Solheim, Kristian;
Gussiaas, Bente;
Alexis, Konstantinos.
(2023)
Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots.
Academic chapter
-
Dharmadhikari, Mihir;
de Petris, Paolo;
Nguyen, Dinh Huan;
Kulkarni, Mihir;
Khedekar, Nikhil Vijay;
Alexis, Konstantinos.
(2023)
Manhole Detection and Traversal for Exploration of Ballast Water Tanks using Micro Aerial Vehicles.
International Conference on Unmanned Aircraft Systems (ICUAS)
Academic article
-
Dharmadhikari, Mihir Rahul;
Alexis, Konstantinos.
(2023)
Semantics-aware Exploration and Inspection Path Planning.
Academic chapter
2022
-
de Petris, Paolo;
Nguyen, Dinh Huan;
Dharmadhikari, Mihir;
Kulkarni, Mihir;
Khedekar, Nikhil Vijay;
Mascarich, Frank;
Alexis, Konstantinos.
(2022)
RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration.
Academic chapter
-
de Petris, Paolo;
Khattak, Shehryar;
Dharmadhikari, Mihir;
Waibel, Gabriel;
Nguyen, Dinh Huan;
Montenegro, Markus;
Khedekar, Nikhil Vijay;
Alexis, Konstantinos;
Hutter, Marco.
(2022)
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments.
Academic chapter
-
Tranzatto, Marco;
Miki, Takahiro;
Dharmadhikari, Mihir;
Bernreiter, Lukas;
Kulkarni, Mihir;
Mascarich, Frank;
Andersson, Olov;
Khattak, Shehryar;
Hutter, Marco;
Siegwart, Roland.
(2022)
CERBERUS in the DARPA Subterranean Challenge.
Science robotics
Academic article
-
Kulkarni, Mihir;
Dharmadhikari, Mihir;
Tranzatto, Marco;
Zimmermann, Samuel;
Reijgwart, Victor;
de Petris, Paolo;
Nguyen, Dinh Huan;
Khedekar, Nikhil Vijay;
Papachristos, Christos;
Ott, Lionel.
(2022)
Autonomous teamed exploration of subterranean environments using legged and aerial robots.
Academic chapter
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de Petris, Paolo;
Dharmadhikari, Mihir;
Nguyen, Dinh Huan;
Alexis, Konstantinos.
(2022)
Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty.
Academic chapter
Journal publications
-
Zacharia, Angelos;
Dharmadhikari, Mihir Rahul;
Alexis, Konstantinos.
(2025)
Collaborative Exploration With a Marsupial Ground-Aerial Robot Team Through Task-Driven Map Compression.
IEEE Robotics and Automation Letters
Academic article
-
Dharmadhikari, Mihir;
de Petris, Paolo;
Nguyen, Dinh Huan;
Kulkarni, Mihir;
Khedekar, Nikhil Vijay;
Alexis, Konstantinos.
(2023)
Manhole Detection and Traversal for Exploration of Ballast Water Tanks using Micro Aerial Vehicles.
International Conference on Unmanned Aircraft Systems (ICUAS)
Academic article
-
Dharmadhikari, Mihir Rahul;
Alexis, Konstantinos.
(2025)
Semantics-aware Predictive Inspection Path Planning.
IEEE Transactions on Field Robotics (T-FR)
Academic article
-
Tranzatto, Marco;
Miki, Takahiro;
Dharmadhikari, Mihir;
Bernreiter, Lukas;
Kulkarni, Mihir;
Mascarich, Frank;
Andersson, Olov;
Khattak, Shehryar;
Hutter, Marco;
Siegwart, Roland.
(2022)
CERBERUS in the DARPA Subterranean Challenge.
Science robotics
Academic article
-
Mohit Singh;
Dharmadhikari, Mihir Rahul;
Alexis, Konstantinos.
(2024)
An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry.
IEEE International Conference on Robotics and Automation (ICRA)
Academic article
Part of book/report
-
Kulkarni, Mihir Vinay;
Dharmadhikari, Mihir Rahul;
Khedekar, Nikhil Vijay;
Nissov, Morten;
Mohit Singh;
Weiss, Philipp;
Alexis, Konstantinos.
(2025)
UniPilot: Enabling GPS-Denied Autonomy Across Embodiments.
Academic chapter
-
de Petris, Paolo;
Nguyen, Dinh Huan;
Dharmadhikari, Mihir;
Kulkarni, Mihir;
Khedekar, Nikhil Vijay;
Mascarich, Frank;
Alexis, Konstantinos.
(2022)
RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration.
Academic chapter
-
Dharmadhikari, Mihir;
de Petris, Paolo;
Kulkarni, Mihir;
Khedekar, Nikhil Vijay;
Nguyen, Dinh Huan;
Stene, Arnt Erik;
Sjøvold, Eivind;
Solheim, Kristian;
Gussiaas, Bente;
Alexis, Konstantinos.
(2023)
Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots.
Academic chapter
-
de Petris, Paolo;
Khattak, Shehryar;
Dharmadhikari, Mihir;
Waibel, Gabriel;
Nguyen, Dinh Huan;
Montenegro, Markus;
Khedekar, Nikhil Vijay;
Alexis, Konstantinos;
Hutter, Marco.
(2022)
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments.
Academic chapter
-
Dharmadhikari, Mihir Rahul;
Alexis, Konstantinos.
(2023)
Semantics-aware Exploration and Inspection Path Planning.
Academic chapter
-
Kulkarni, Mihir;
Dharmadhikari, Mihir;
Tranzatto, Marco;
Zimmermann, Samuel;
Reijgwart, Victor;
de Petris, Paolo;
Nguyen, Dinh Huan;
Khedekar, Nikhil Vijay;
Papachristos, Christos;
Ott, Lionel.
(2022)
Autonomous teamed exploration of subterranean environments using legged and aerial robots.
Academic chapter
-
de Petris, Paolo;
Dharmadhikari, Mihir;
Nguyen, Dinh Huan;
Alexis, Konstantinos.
(2022)
Risk-aware Motion Planning for Collision-tolerant Aerial Robots subject to Localization Uncertainty.
Academic chapter
Outreach
2025
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Conference posterMohit Singh; Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2025) Ariel Explores: Vision-based underwater exploration and inspection via generalist drone-level autonomy. 2025 International Conference on Robotics and Automation Workshop on Field Robotics
2024
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Conference lectureMohit Singh; Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2024) An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry. IEEE International Conference on Robotics and Automation 2024
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Conference posterMohit Singh; Dharmadhikari, Mihir Rahul; Alexis, Konstantinos. (2024) An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry. IEEE International Conference on Robotics and Automation
-
Conference posterDharmadhikari, Mihir Rahul; Khedekar, Nikhil Vijay; de Petris, Paolo; Kulkarni, Mihir Vinay; Nissov, Morten Christian; Alexis, Konstantinos. (2024) Maritime Vessel Tank Inspection using Aerial Robots: Experience from the field and dataset release. Workshop on Field Robotics
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Conference lectureDharmadhikari, Mihir Rahul; Khedekar, Nikhil Vijay; de Petris, Paolo; Kulkarni, Mihir Vinay; Nissov, Morten; Alexis, Konstantinos. (2024) Maritime Vessel Tank Inspection using Aerial Robots: Experience from the field and dataset release. IEEE International Conference on Robotics and Automation
2023
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LectureDharmadhikari, Mihir; Alexis, Konstantinos. (2023) CERBERUS in the DARPA Subterranean Challenge - Exploration of Underground Environments. IEEE ICRA 2023 Workshop - Heterogeneous multi-robot cooperation for exploration and science in extreme environments
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LectureDharmadhikari, Mihir; Alexis, Konstantinos. (2023) Resilient Robotic Autonomy: Lessons from the DARPA SubT Challenge & Beyond. IEEE ICRA 2023 Workshop - Robot Teammates in Dynamic Unstructured Environments (RT-DUNE)