2025

• 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
• Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2025) PG-LIO: Photometric-Geometric fusion for Robust LiDAR-Inertial Odometry. arXiv
  Academic article

2024

• Nissov, Morten Christian; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2024) Degradation Resilient LiDAR-Radar-Inertial Odometry. IEEE International Conference on Robotics and Automation (ICRA)
  Academic article
• Harms, Marvin Chayton; Kulkarni, Mihir Vinay; Khedekar, Nikhil Vijay; Jacquet, Martin Pierre Francois; Alexis, Konstantinos. (2024) Neural Control Barrier Functions for Safe Navigation. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  Academic article

2023

• 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

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; Mascarich, Frank; Bernreiter, Lukas; Godinho, Carolina; Camurri, Marco; Khattak, Shehryar; Dang, Tung; Reijgwart, Victor; Loeje, Johannes; Wisth, David. (2022) CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Field 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
• Khedekar, Nikhil; Kulkarni, Mihir; Alexis, Konstantinos. (2022) MIMOSA: A Multi-Modal SLAM Framework for Resilient Autonomy against Sensor Degradation.
  Academic chapter

2021

• Mathur, Pranay; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Resource-aware Online Parameter Adaptation for Computationally-constrained Visual-Inertial Navigation Systems.
  Academic chapter
• Dharmadhikari, Mihir; Nguyen, Dinh Huan; Mascarich, Frank; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Cave Exploration using Aerial Robots.
  Academic chapter
• Mascarich, Frank; de Petris, Paolo; Nguyen, Dinh Huan; Khedekar, Nikhil Vijay; Alexis, Konstantinos. (2021) Autonomous Distributed 3D Radiation Field Estimation for Nuclear Environment Characterization.
  Academic chapter