Spatial Perception and Embodied Autonomy Research

Información del proyecto

SPEAR

Identificador del acuerdo de subvención: 101119774

DOI

10.3030/101119774

Fecha de la firma de la CE 27 Junio 2023

Fecha de inicio 1 Noviembre 2023

Fecha de finalización 31 Octubre 2027

Financiado con arreglo a

• Digital, Industry and Space

Coste total

€ 6 746 086,25

Aportación de la UE

€ 6 746 086,25

Coordinado por

NORGES TEKNISK-NATURVITENSKAPELIGE UNIVERSITET NTNU
Norway

CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.

Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .

Resultado final

Documents, reports (10)

Evolutionary flying robot embodiment generation

Report on evolutionary Human-&-AI embodiment co-generation algorithms. The report shall contain also software examples.

Ultra-low latency multi-modal SLAM

Report on low-latency event-based active ranging, ULL (multi-modal) SLAM. The report shall contain also software examples.

Navigation policy learning and constraint handling

Report on baseline navigation policy learning for automatically generated flying embodiments with constraint handling. The report shall contain also software examples.

Final Simulation Toolbox

Report for the simulation toolbox. The report shall contain also software examples.

Collision detection and propulsion technologies for soft drones

Report on collision detection techniques and approaches on embedding propulsion for the generated bodies.

Dissemination, exploitation and communication plan

Dissemination, exploitation and communication plan report (iteratively updated).

Soft aerial robot design

Report on soft aerial robots design and embodiment sensing. The report shall contain also design examples.

Dissemination, exploitation and communication plan - Update 1

Dissemination, exploitation and communication plan report (iteratively updated).

Ultra-low latency multi-modal SLAM - Update

Updated report on low-latency event-based active ranging, ULL (multi-modal) SLAM. The report shall contain also software examples.

Mid-term Simulation Toolbox

Report for the first version of Simulation Toolbox. The report shall contain also software examples.

Other (2)

Software and Dataset releases

SPEAR Software and Dataset release involving the simulation toolbox (M18 - this deliverable), the soft materials design tool (M24 - Update 1), the Evolutionary Algorithms-based embodiment generation (M34 - Update 2), and the Navigation Policy Learning software (M44 - Update 3).

Software and Dataset releases - Update 1

SPEAR Software and Dataset release involving the simulation toolbox (M18), the soft materials design tool (M24 - this deliverable), the Evolutionary Algorithms-based embodiment generation (M34 - Update 2), and the Navigation Policy Learning software (M44 - Update 3).

Data Management Plan (2)

Data Management Plan

The DMP contains detailed procedures for all data types producing during SPEAR. The DMP will be a living document (see also planned updates).

Data Management Plan - Update 1

SPEAR Data Management Plan - Update 1

Demonstrators, pilots, prototypes (1)

Field testing and demonstration

Report on field test-based demonstration of the SPEAR prototypes. The report shall also contain data from the field tests.

Publicaciones

Conference proceedings (15)

Reinforcement Learning for Active Perception in Autonomous Navigation

Autores: Grzegorz Malczyk, Mihir Kulkarni, Kostas Alexis
Publicado en: Accepted at IEEE ICRA 2026, 2026
Editor: IEEE
DOI: 10.48550/ARXIV.2602.01266

Curriculum-based Sample Efficient Reinforcement Learning for Robust Stabilization of a Quadrotor

Autores: Fausto Mauricio Lagos Suarez; Akshit Saradagi; Vidya Sumathy; Shruti Kotpalliwar; George Nikolakopoulos
Publicado en: CoRR, 2025
Editor: IEEE
DOI: 10.48550/ARXIV.2501.18490

Tightly-Coupled Radar-Visual-Inertial Odometry

Autores: Morten Nissov, Mohit Singh, Kostas Alexis
Publicado en: Accepted to IEEE ECC 2026, 2026
Editor: IEEE
DOI: 10.48550/ARXIV.2603.23052

A Graph-Based Reinforcement Learning Approach with Frontier Potential Based Reward for Safe Cluttered Environment Exploration

Autores: Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos
Publicado en: 24th European Control Conference, 2026
Editor: IEEE

Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation

Autores: Mario A.V. Saucedo, Akash Patel, Akshit Saradagi, Christoforos Kanellakis, George Nikolakopoulos
Publicado en: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Editor: IEEE
DOI: 10.48550/arXiv.2402.03840

Platform-Agnostic Reinforcement Learning Framework for Safe Exploration of Cluttered Environments with Graph Attention

Autores: Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos
Publicado en: The 2026 IEEE International Conference on Robotics & Automation (ICRA)
Editor: IEEE

Decentralized Multi-Agent Reinforcement Learning Exploration with Inter-Agent Communication-Based Action Space

Autores: Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos
Publicado en: 2024 24th International Conference on Control, Automation and Systems (ICCAS), 2024, ISSN 2642-3901
Editor: IEEE
DOI: 10.23919/ICCAS63016.2024.10773383

D-MARL: A Dynamic Communication-Based Action Space Enhancement for Multi Agent Reinforcement Learning Exploration of Large Scale Unknown Environments

Autores: Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2024

A Heuristic Approach for Performance Tuning in RL-based Quadrotor Control via Reward Design and Termination Conditions

Autores: Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy, George Nikolakopoulos
Publicado en: 34th Mediterranean Conference on Control and Automation (MED26), 2026
Editor: IEEE

Learning UAV Navigation with Collision-Aware Predicted-Motion Embedding

Autores: Mohammad Javad Zallaghi, Bryan Convens, Kelly Merckaert, Adrian Munteanu, Bram Vanderborght
Publicado en: 2026
Editor: Benelux Meeting on Systems and Control 2026

Fuzzy Logic Theory-based Adaptive Reward Shaping for Robust Reinforcement Learning (FARS)

Autores: Hürkan Şahin, Van Huyen Dang, Erdi Sayar, Alper Yegenoglu, Erdal Kayacan
Publicado en: IEEE WCCI 2026, 2026
Editor: IEEE
DOI: 10.48550/ARXIV.2604.15772

Thermal Image Refinement with Depth Estimation using Recurrent Networks for Monocular ORB-SLAM3

Autores: Hürkan Şahin, Huy Xuan Pham, Van Huyen Dang, Alper Yegenoglu, Erdal Kayacan
Publicado en: IEEE International Conference on Robotics & Automation, 2026
Editor: IEEE

Vine Robots that Evert through Bending

Autores: Rui Wu, Stefano Mintchev
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Editor: IEEE
DOI: 10.3929/ethz-b-000705656

UniPilot: Enabling GPS-Denied Autonomy Across Embodiments

Autores: Mihir Kulkarni, Mihir Dharmadhikari, Nikhil Khedekar, Morten Nissov, Mohit Singh, Philipp Weiss, Kostas Alexis
Publicado en: 2025 IEEE International Conference on Advanced Robotics (ICAR), 2026
Editor: IEEE
DOI: 10.1109/ICAR65334.2025.11338632

Leveraging Computation of Expectation Models for Commonsense Affordance Estimation on 3D Scene Graphs

Autores: Mario A.V. Saucedo, Nikolaos Stathoulopoulos, Akash Patel, Christoforos Kanellakis, George Nikolakopoulos
Publicado en: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Editor: IEEE
DOI: 10.48550/arXiv.2409.05392

Peer reviewed articles (12)

Efficient Knowledge Transfer for Jump-Starting Control Policy Learning of Multirotors Through Physics-Aware Neural Architectures

Autores: Welf Rehberg, Mihir Kulkarni, Philipp Weiss, Kostas Alexis
Publicado en: IEEE Robotics and Automation Letters, Edición 11, 2026, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2026.3668585

VDS-Nav: Volumetric Depth-Based Safe Navigation for Aerial Robots–Bridging the Sim-to-Real Gap

Autores: Van Huyen Dang; Adrian Redder; Huy Xuan Pham; Andriy Sarabakha; Erdal Kayacan
Publicado en: IEEE Robotics and Automation Letters, 2025, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/LRA.2025.3606806

Morphy: A Compliant and Morphologically Aware Flying Robot

Autores: Paolo De Petris; Morten Nissov; Kostas Alexis
Publicado en: Advanced Intelligent Systems, 2024, ISSN 2640-4567
Editor: Wiley
DOI: 10.1002/aisy.202400493

Aerial Gym Simulator: A Framework for Highly Parallelized Simulation of Aerial Robots

Autores: Mihir Kulkarni; Welf Rehberg; Kostas Alexis
Publicado en: IEEE Robotics and Automation Letters, 2025, ISSN 2377-3766
Editor: IEEE
DOI: 10.48550/ARXIV.2503.01471

MAVRL: Learn to Fly in Cluttered Environments With Varying Speed

Autores: Hang Yu, ChristopheDe Wagter, Guido C. H. E de Croon
Publicado en: IEEE Robotics and Automation Letters, Edición 10, 2025, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3522778

Collaborative Exploration With a Marsupial Ground-Aerial Robot Team Through Task-Driven Map Compression

Autores: Angelos Zacharia, Mihir Dharmadhikari, Kostas Alexis
Publicado en: IEEE Robotics and Automation Letters, Edición 10, 2025, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3609040

Neural NMPC through signed distance field encoding for collision avoidance

Autores: Martin Jacquet, Marvin Harms, Kostas Alexis
Publicado en: The International Journal of Robotics Research, 2026, ISSN 0278-3649
Editor: SAGE Publications
DOI: 10.1177/02783649251401223

Depth Transfer: Learning to See Like a Simulator for Real-World Drone Navigation

Autores: Hang Yu, Christophe De Wagter, Guido C. H. E de Croon
Publicado en: IEEE Robotics and Automation Letters, Edición 10, 2025, ISSN 2377-3766
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3617729

Encoding mechanical intelligence using ultraprogrammable joints

Autores: Rui Wu, Luca Girardi, Stefano Mintchev
Publicado en: Science Advances, Edición 11, 2025, ISSN 2375-2548
Editor: American Association for the Advancement of Science (AAAS)
DOI: 10.1126/SCIADV.ADV2052

Semantically-Driven Deep Reinforcement Learning for Inspection Path Planning

Autores: Grzegorz Malczyk; Mihir Kulkarni; Kostas Alexis
Publicado en: IEEE Robotics and Automation Letters, 2025, ISSN 2377-3766
Editor: IEEE
DOI: 10.48550/ARXIV.2505.14443

On the Characterization and Limits of 4D Radar for Aided Inertial Navigation

Autores: Morten Nissov, Kostas Alexis
Publicado en: IEEE Transactions on Field Robotics, 2026, ISSN 2997-1101
Editor: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/TFR.2026.3690584

A Terminal State Feasibility Governor for Real-Time Nonlinear Model Predictive Control Over Arbitrary Horizons

Autores: Bryan Convens; Dominic Liao-McPherson; Kelly Merckaert; Bram Vanderborght; Marco M. Nicotra
Publicado en: IEEE Transactions on Control Systems Technology, 2024, ISSN 1558-0865
Editor: IEEE
DOI: 10.1109/tcst.2024.3365996

Book chapters (1)

Unconventional Hexacopters via Evolution and Learning: Performance Gains and New Insights

Autores: Jed R. Muff, Keiichi Ito, Elijah H. W. Ang, Karine Miras, A. E. Eiben
Publicado en: Lecture Notes in Computer Science, Applications of Evolutionary Computation, 2026
Editor: Springer Nature Switzerland
DOI: 10.1007/978-3-032-23604-3_5

Other (1)

MAC: Morphology-Aware Control Design with Deep Reinforcement Learning for Navigation of Squeezable Unmanned Aerial Vehicles

Autores: Van Huyen Dang, Adrian Redder, Erdal Kayacan
Publicado en: Workshop on Morphology-Aware Policy and Design Learning (MAPoDeL) at CoRL 2024., 2024
Editor: OpenReview