LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments

Kamak Ebadi, Yun Chang, Matteo Palieri, +9

EngineeringField RoboticsDepth MapLocalizationSocial Sciences +21

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

IEEE Robotics and Automation Letters

EngineeringField RoboticsTeam CostarLocalizationMapping +21

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge

Kamak Ebadi, Lukas Bernreiter, Harel Biggie, +28

IEEE Transactions on Robotics

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM\n CoSTAR at the DARPA Subterranean Challenge

Ali Agha, Kyohei Otsu, Benjamin Morrell, +69

arXiv (Cornell University)

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping

Andrzej Reinke, Matteo Palieri, Benjamin Morrell, +4

IEEE Robotics and Automation Letters

NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge

Ali Agha, Kyohei Otsu, Benjamin Morrell, +69

Field Robotics

Present and Future of SLAM in Extreme Underground Environments

Kamak Ebadi, Lukas Bernreiter, Harel Biggie, +28

arXiv (Cornell University)

Underground InfrastructureEngineeringField RoboticsIntelligent RoboticsLocalization +20

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM

Christopher E. Denniston, Yun Chang, Andrzej Reinke, +5

IEEE Robotics and Automation Letters

EngineeringLocation EstimationField RoboticsLoop Closure PrioritizationLocalization +15

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge

Ali Agha, Kyohei Otsu, Benjamin Morrell, +68

arXiv (Cornell University)

Artificial IntelligenceRobotic SystemsEngineeringGlobal PlanningField Robotics +19

Topographical Landmarks for Ground-Level Terrain Relative Navigation on Mars

Joshua Vander Hook, Russell Schwartz, Kamak Ebadi, +2

2022 IEEE Aerospace Conference (AERO)