Author

A. Koval

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Preprint Oct 2026

Resilient Decentralized Radar-LiDAR-Inertial Odometry in Challenging Subterranean Environments

Accurate localization in GPS-denied and visually degraded environments affected by smoke, dust, or fog remains a critical challenge for autonomous systems. While LiDAR provides high-resolution spatial perception, its performance deteriorates under particulate occlusion. In contrast, frequency-modulated continuous-wave...

M. Mukherjee, Avijit Banerjee, A. Koval et al. · 0 citations

Preprint Oct 2026

When LiDAR Fades, Radar Takes Over: LiDAR Reliability-Aware Adaptive Localization Under Airborne Obscurants

LiDAR-inertial odometry (LIO) is widely used for real-time localization and mapping, but its reliability can degrade substantially in subterranean environments affected by smoke, dust, and other airborne obscurants, whereas radar remains comparatively robust. This article presents a one-class temporal learning framewor...

M. Mukherjee, Avijit Banerjee, A. Koval et al. · 0 citations