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Platforms

Fully integrated platforms

UniPilot

UniPilot is a compact, plug-and-play hardware-software autonomy payload designed for integration across diverse robot embodiments including aerial and ground platforms. It features a multi-modal sensing suite (LiDAR, radar, vision, ToF, IMU) and an NVIDIA Jetson Orin NX compute board running complete autonomy software for SLAM, path planning, and learning-based navigation. The lightweight design enables robust autonomous operation in GPS-denied environments across multirotors, legged robots, and hybrid VTOL platforms.

UniPilot

Sensor FoV Visualization:

Module Oblique View Module FOV Top View Module FOV Side View

Multirotors

magpie module

The complete Unified Autonomy Stack has been integrated and tested on a collision-tolerant multirotor platform equipped with the UniPilot payload.

Legged Robots

anymal_mount_v2

The Unified Autonomy Stack has been integrated with the ANYmal D quadruped robot via the UniPilot payload, enabling robust autonomous perception, planning and navigation in GPS-denied environments using the full Unified Autonomy Stack.

Handheld Unit

handheld

The UniPilot payload running the Unified Autonomy Stack has been integrated as a handheld unit for rapid data collection across environments.

Partial Integration

Hybrid VTOL - x-Wing

x-Wing

The Unified Autonomy Stack has now been integrated with the x-Wing hybrid VTOL platform. The UniPilot payload provides the necessary sensing and compute capabilities to enable autonomous navigation in GNSS-denied environments.

Underwater Platform - Blue ROV

ariel_dora

The Unified Autonomy Stack has been partially integrated with the Blue ROV underwater platform, planning and inspection capabilities underwater.

Citation

If you use the Unified Autonomy Stack or the UniPilot reference hardware platform in your research, please cite the following publications:

@article{unipilot,
  title={UniPilot: Enabling GPS-Denied Autonomy Across Embodiments},
  author={Kulkarni, Mihir and Dharmadhikari, Mihir and Khedekar, Nikhil and Nissov, Morten and Singh, Mohit and Weiss, Philipp and Alexis, Kostas},
  journal={arXiv preprint arXiv:2509.11793},
  year={2025}
}