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arXiv · 2504.16914

MorphoNavi: Aerial-Ground Robot Navigation with Object Oriented Mapping in Digital Twin

Sausar Karaf·Mikhail Martynov·Oleg Sautenkov·Zhanibek Darush·Dzmitry Tsetserukou
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Abstract

This paper presents a novel mapping approach for a universal aerial-ground robotic system utilizing a single monocular camera. The proposed system is capable of detecting a diverse range of objects and estimating their positions without requiring fine-tuning for specific environments. The system's performance was evaluated through a simulated search-and-rescue scenario, where the MorphoGear robot successfully located a robotic dog while an operator monitored the process. This work contributes to the development of intelligent, multimodal robotic systems capable of operating in unstructured environments.

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Sausar Karaf, Mikhail Martynov, Oleg Sautenkov, Zhanibek Darush, Dzmitry Tsetserukou. 2025-04-23. MorphoNavi: Aerial-Ground Robot Navigation with Object Oriented Mapping in Digital Twin. https://arxiv.org/abs/2504.16914

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