71 citations · 100 across the 18 of their papers we have counts for
4 papers · 1 filter
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…
PANTHER: Perception-Aware Trajectory Planner in Dynamic Environments
Jesus Tordesillas, Jonathan P. How
This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans trajectories…
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments
Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai +4
State estimation for robots navigating in GPS-denied and perceptually-degraded environments, such as underground tunnels, mines and planetary subsurface voids, remains challenging…
Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions
Rohan Thakker, Nikhilesh Alatur, David D. Fan +5
We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and…