UniPilot: Enabling GPS-Denied Autonomy Across Embodiments
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866908539433254912 |
|---|---|
| author | Kulkarni, Mihir Dharmadhikari, Mihir Khedekar, Nikhil Nissov, Morten Singh, Mohit Weiss, Philipp Alexis, Kostas |
| author_facet | Kulkarni, Mihir Dharmadhikari, Mihir Khedekar, Nikhil Nissov, Morten Singh, Mohit Weiss, Philipp Alexis, Kostas |
| contents | This paper presents UniPilot, a compact hardware-software autonomy payload that can be integrated across diverse robot embodiments to enable autonomous operation in GPS-denied environments. The system integrates a multi-modal sensing suite including LiDAR, radar, vision, and inertial sensing for robust operation in conditions where uni-modal approaches may fail. UniPilot runs a complete autonomy software comprising multi-modal perception, exploration and inspection path planning, and learning-based navigation policies. The payload provides robust localization, mapping, planning, and safety and control capabilities in a single unit that can be deployed across a wide range of platforms. A large number of experiments are conducted across diverse environments and on a variety of robot platforms to validate the mapping, planning, and safe navigation capabilities enabled by the payload. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_11793 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | UniPilot: Enabling GPS-Denied Autonomy Across Embodiments Kulkarni, Mihir Dharmadhikari, Mihir Khedekar, Nikhil Nissov, Morten Singh, Mohit Weiss, Philipp Alexis, Kostas Robotics This paper presents UniPilot, a compact hardware-software autonomy payload that can be integrated across diverse robot embodiments to enable autonomous operation in GPS-denied environments. The system integrates a multi-modal sensing suite including LiDAR, radar, vision, and inertial sensing for robust operation in conditions where uni-modal approaches may fail. UniPilot runs a complete autonomy software comprising multi-modal perception, exploration and inspection path planning, and learning-based navigation policies. The payload provides robust localization, mapping, planning, and safety and control capabilities in a single unit that can be deployed across a wide range of platforms. A large number of experiments are conducted across diverse environments and on a variety of robot platforms to validate the mapping, planning, and safe navigation capabilities enabled by the payload. |
| title | UniPilot: Enabling GPS-Denied Autonomy Across Embodiments |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.11793 |