{"ID":2870862,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.11793","arxiv_id":"2509.11793","title":"UniPilot: Enabling GPS-Denied Autonomy Across Embodiments","abstract":"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.","short_abstract":"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 con...","url_abs":"https://arxiv.org/abs/2509.11793","url_pdf":"https://arxiv.org/pdf/2509.11793v1","authors":"[\"Mihir Kulkarni\",\"Mihir Dharmadhikari\",\"Nikhil Khedekar\",\"Morten Nissov\",\"Mohit Singh\",\"Philipp Weiss\",\"Kostas Alexis\"]","published":"2025-09-15T11:23:58Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[\"LoRA\"]","has_code":false}