Paper: The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
Video: Unified Autonomy Stack - Overview
Playlist: Unified Autonomy Stack - Experiments and Evaluations
Welcome to the documentation for the Unified Autonomy Stack. This stack presents an autonomy architecture integrating perception, planning, and navigation algorithms developed and field tested at the Autonomous Robots Lab across robot configurations. The stack consists of the software for the core algorithms along with drivers, utilities, and tools for simulation and testing. We currently support rotary-wing (e.g., multirotor) and certain ground systems (e.g., legged robots) with extension to other systems, such as underwater robots, coming soon. The software distributed as a part of this stack has been thoroughly tested in real-world scenarios demonstrating robust autonomous operation in challenging GPS-denied environments.
The documentation of the Unified Autonomy Stack is available at https://ntnu-arl.github.io/unified_autonomy_stack/.
If you use the Unified Autonomy Stack in your research, please consider citing the following paper:
@article{unifiedautonomystack2026,
title={The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy},
author={Dharmadhikari, Mihir and Khedekar, Nikhil and Kulkarni, Mihir and Nissov, Morten and Jacquet, Martin and Zacharia, Angelos and Harms, Marvin and Puigjaner, Albert Gassol and Weiss, Philipp and Alexis, Kostas},
journal={arXiv preprint arXiv:2605.12735},
year={2026}
}
- Mihir Dharmadhikari: mihir.dharmadhikari@ntnu.no
- Nikhil Khedekar: nikhil.v.khedekar@ntnu.no
- Mihir Kulkarni: mihir.kulkarni@ntnu.no
- Morten Nissov: morten.nissov@ntnu.no
- Angelos Zacharia: angelos.zacharia@ntnu.no
- Martin Jacquet: martin.jacquet@ntnu.no
- Albert Gassol Puigjaner : albert.g.puigjaner@ntnu.no
- Philipp Weiss: philipp.weiss@ntnu.no
- Kostas Alexis: konstantinos.alexis@ntnu.no