129 citations · 308 across the 10 of their papers we have counts for
10 papers
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
Ali Agha, Kyohei Otsu, Benjamin Morrell +86
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Sub…
Present and Future of SLAM in Extreme Underground Environments
Kamak Ebadi, Lukas Bernreiter, Harel Biggie +28
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT co…
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping
Andrzej Reinke, Matteo Palieri, Benjamin Morrell +4
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable…
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Yun Chang, Kamak Ebadi, Christopher E. Denniston +9
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requ…
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Christopher E. Denniston, Yun Chang, Andrzej Reinke +5
Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment,…
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Ali Agha, Kyohei Otsu, Benjamin Morrell +69
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARP…