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08/02/2022
Present and Future of SLAM in Extreme Underground Environments
This paper reports on the state of the art in underground SLAM by discus...
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05/26/2022
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Search and rescue with a team of heterogeneous mobile robots in unknown ...
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05/24/2022
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Multi-robot SLAM systems in GPS-denied environments require loop closure...
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05/24/2022
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping
Lidar odometry has attracted considerable attention as a robust localiza...
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04/12/2022
Exploring Event Camera-based Odometry for Planetary Robots
Due to their resilience to motion blur and high robustness in low-light ...
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03/21/2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
This paper presents and discusses algorithms, hardware, and software arc...
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08/21/2020
Towards Resilient Autonomous Navigation of Drones
Robots and particularly drones are especially useful in exploring extrem...
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03/16/2020
The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)
In this report for the Nasa NIAC Phase I study, we present a mission arc...
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03/03/2020