Spatial Perception and Embodied Autonomy Research

Informacje na temat projektu

SPEAR

Identyfikator umowy o grant: 101119774

DOI

10.3030/101119774

Data podpisania przez KE 27 Czerwca 2023

Data rozpoczęcia 1 Listopada 2023

Data zakończenia 31 Października 2027

Finansowanie w ramach

• Digital, Industry and Space

Koszt całkowity

€ 6 746 086,25

Wkład UE

€ 6 746 086,25

Koordynowany przez

NORGES TEKNISK-NATURVITENSKAPELIGE UNIVERSITET NTNU
Norway

CORDIS oferuje możliwość skorzystania z odnośników do publicznie dostępnych publikacji i rezultatów projektów realizowanych w ramach programów ramowych HORYZONT.

Odnośniki do rezultatów i publikacji związanych z poszczególnymi projektami 7PR, a także odnośniki do niektórych konkretnych kategorii wyników, takich jak zbiory danych i oprogramowanie, są dynamicznie pobierane z systemu OpenAIRE .

Rezultaty

Data Management Plan (1)

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).

Documents, reports (1)

Dissemination, exploitation and communication plan

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

Publikacje

Conference proceedings (15)

Reinforcement Learning for Active Perception in Autonomous Navigation

Autorzy: Grzegorz Malczyk, Mihir Kulkarni, Kostas Alexis
Opublikowane w: Accepted at IEEE ICRA 2026, 2026
Wydawca: IEEE
DOI: 10.48550/ARXIV.2602.01266

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

Autorzy: Fausto Mauricio Lagos Suarez; Akshit Saradagi; Vidya Sumathy; Shruti Kotpalliwar; George Nikolakopoulos
Opublikowane w: CoRR, 2025
Wydawca: IEEE
DOI: 10.48550/ARXIV.2501.18490

Tightly-Coupled Radar-Visual-Inertial Odometry

Autorzy: Morten Nissov, Mohit Singh, Kostas Alexis
Opublikowane w: Accepted to IEEE ECC 2026, 2026
Wydawca: IEEE
DOI: 10.48550/ARXIV.2603.23052

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

Autorzy: Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos
Opublikowane w: 24th European Control Conference, 2026
Wydawca: IEEE

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

Autorzy: Mario A.V. Saucedo, Akash Patel, Akshit Saradagi, Christoforos Kanellakis, George Nikolakopoulos
Opublikowane w: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Wydawca: IEEE
DOI: 10.48550/arXiv.2402.03840

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

Autorzy: Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos
Opublikowane w: The 2026 IEEE International Conference on Robotics & Automation (ICRA)
Wydawca: IEEE

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

Autorzy: Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos
Opublikowane w: 2024 24th International Conference on Control, Automation and Systems (ICCAS), 2024, ISSN 2642-3901
Wydawca: 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

Autorzy: Gabriele Calzolari, Vidya Sumathy, Christoforos Kanellakis, George Nikolakopoulos
Opublikowane w: 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

Autorzy: Fausto Mauricio Lagos Suarez, Akshit Saradagi, Vidya Sumathy, George Nikolakopoulos
Opublikowane w: 34th Mediterranean Conference on Control and Automation (MED26), 2026
Wydawca: IEEE

Learning UAV Navigation with Collision-Aware Predicted-Motion Embedding

Autorzy: Mohammad Javad Zallaghi, Bryan Convens, Kelly Merckaert, Adrian Munteanu, Bram Vanderborght
Opublikowane w: 2026
Wydawca: Benelux Meeting on Systems and Control 2026

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

Autorzy: Hürkan Şahin, Van Huyen Dang, Erdi Sayar, Alper Yegenoglu, Erdal Kayacan
Opublikowane w: IEEE WCCI 2026, 2026
Wydawca: IEEE
DOI: 10.48550/ARXIV.2604.15772

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

Autorzy: Hürkan Şahin, Huy Xuan Pham, Van Huyen Dang, Alper Yegenoglu, Erdal Kayacan
Opublikowane w: IEEE International Conference on Robotics & Automation, 2026
Wydawca: IEEE

Vine Robots that Evert through Bending

Autorzy: Rui Wu, Stefano Mintchev
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Wydawca: IEEE
DOI: 10.3929/ethz-b-000705656

UniPilot: Enabling GPS-Denied Autonomy Across Embodiments

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

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

Autorzy: Mario A.V. Saucedo, Nikolaos Stathoulopoulos, Akash Patel, Christoforos Kanellakis, George Nikolakopoulos
Opublikowane w: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Wydawca: 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

Autorzy: Welf Rehberg, Mihir Kulkarni, Philipp Weiss, Kostas Alexis
Opublikowane w: IEEE Robotics and Automation Letters, Numer 11, 2026, ISSN 2377-3766
Wydawca: 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

Autorzy: Van Huyen Dang; Adrian Redder; Huy Xuan Pham; Andriy Sarabakha; Erdal Kayacan
Opublikowane w: IEEE Robotics and Automation Letters, 2025, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/LRA.2025.3606806

Morphy: A Compliant and Morphologically Aware Flying Robot

Autorzy: Paolo De Petris; Morten Nissov; Kostas Alexis
Opublikowane w: Advanced Intelligent Systems, 2024, ISSN 2640-4567
Wydawca: Wiley
DOI: 10.1002/aisy.202400493

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

Autorzy: Mihir Kulkarni; Welf Rehberg; Kostas Alexis
Opublikowane w: IEEE Robotics and Automation Letters, 2025, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.48550/ARXIV.2503.01471

MAVRL: Learn to Fly in Cluttered Environments With Varying Speed

Autorzy: Hang Yu, ChristopheDe Wagter, Guido C. H. E de Croon
Opublikowane w: IEEE Robotics and Automation Letters, Numer 10, 2025, ISSN 2377-3766
Wydawca: 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

Autorzy: Angelos Zacharia, Mihir Dharmadhikari, Kostas Alexis
Opublikowane w: IEEE Robotics and Automation Letters, Numer 10, 2025, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3609040

Neural NMPC through signed distance field encoding for collision avoidance

Autorzy: Martin Jacquet, Marvin Harms, Kostas Alexis
Opublikowane w: The International Journal of Robotics Research, 2026, ISSN 0278-3649
Wydawca: SAGE Publications
DOI: 10.1177/02783649251401223

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

Autorzy: Hang Yu, Christophe De Wagter, Guido C. H. E de Croon
Opublikowane w: IEEE Robotics and Automation Letters, Numer 10, 2025, ISSN 2377-3766
Wydawca: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3617729

Encoding mechanical intelligence using ultraprogrammable joints

Autorzy: Rui Wu, Luca Girardi, Stefano Mintchev
Opublikowane w: Science Advances, Numer 11, 2025, ISSN 2375-2548
Wydawca: American Association for the Advancement of Science (AAAS)
DOI: 10.1126/SCIADV.ADV2052

Semantically-Driven Deep Reinforcement Learning for Inspection Path Planning

Autorzy: Grzegorz Malczyk; Mihir Kulkarni; Kostas Alexis
Opublikowane w: IEEE Robotics and Automation Letters, 2025, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.48550/ARXIV.2505.14443

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

Autorzy: Morten Nissov, Kostas Alexis
Opublikowane w: IEEE Transactions on Field Robotics, 2026, ISSN 2997-1101
Wydawca: 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

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

Book chapters (1)

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

Autorzy: Jed R. Muff, Keiichi Ito, Elijah H. W. Ang, Karine Miras, A. E. Eiben
Opublikowane w: Lecture Notes in Computer Science, Applications of Evolutionary Computation, 2026
Wydawca: 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

Autorzy: Van Huyen Dang, Adrian Redder, Erdal Kayacan
Opublikowane w: Workshop on Morphology-Aware Policy and Design Learning (MAPoDeL) at CoRL 2024., 2024
Wydawca: OpenReview