Title
CompSLAM: Complementary Hierarchical Multi-Modal Localization and Mapping for Robot Autonomy in Underground Environments Shehryar Khattak Timon Homberger Lukas Bernreiter Julian Nubert Olov Andersson Roland Siegwart Kostas Alexis Marco Hutter 36 0 0 10 May 2025
Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey Chuqi Wang Chao Yu Xin Xu Yuman Gao Xinyi Yang ... ZhuoZhu Jian Xinyu Chen Fei Gao Boyu Zhou Yu Wang 57 0 0 10 Mar 2025
ROLO-SLAM: Rotation-Optimized LiDAR-Only SLAM in Uneven Terrain with Ground Vehicle Yinchuan Wang Bin Ren Xiang Zhang Pengyu Wang Chaoqun Wang Rui Song Yibin Li Max Meng 53 2 0 04 Jan 2025
Capability-aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments M. Ginting K. Otsu Mykel J. Kochenderfer Ali-akbar Agha-mohammadi 72 3 0 01 Nov 2024
M2P2: A Multi-Modal Passive Perception Dataset for Off-Road Mobility in Extreme Low-Light Conditions A. Datar Anuj Pokhrel Mohammad Nazeri Madhan B. Rao Chenhui Pan ... Andre Harrison Maggie B. Wigness Philip R. Osteen Jinwei Ye Xuesu Xiao 49 0 0 01 Oct 2024
SLIM: Scalable and Lightweight LiDAR Mapping in Urban Environments Zehuan Yu Zhijian Qiao Wenyi Liu Huan Yin Shaojie Shen 45 2 0 13 Sep 2024
Scene Action Maps: Behavioural Maps for Navigation without Metric Information Joel Loo David Hsu 41 2 0 13 May 2024
General Place Recognition Survey: Towards Real-World Autonomy Peng Yin Jianhao Jiao Shiqi Zhao Lingyun Xu Guoquan Huang Howie Choset Sebastian A. Scherer Jianda Han 52 7 0 08 May 2024
A Safety-Critical Framework for UGVs in Complex Environments: A Data-Driven Discrepancy-Aware Approach Skylar X. Wei Lu Gan J. W. Burdick 53 0 0 05 Mar 2024
CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms Shipeng Zhong Hongbo Chen Yuhua Qi Dapeng Feng Zhiqiang Chen Jin Wu Weisong Wen Ming Liu 43 3 0 19 Feb 2024
RB5 Low-Cost Explorer: Implementing Autonomous Long-Term Exploration on Low-Cost Robotic Hardware Adam Seewald Marvin Chancán Connor M. McCann Seonghoon Noh Omeed Fallahi Hector Castillo Ian Abraham A. Dollar 40 0 0 14 Feb 2024
Aerial Field Robotics Mihir Kulkarni Brady G. Moon Kostas Alexis Sebastian A. Scherer 42 2 0 19 Jan 2024
Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models K. Goel Wennie Tabib 3DV 36 8 0 19 Sep 2023
GIRA: Gaussian Mixture Models for Inference and Robot Autonomy K. Goel Wennie Tabib 3DV 21 0 0 30 Jun 2023
LiDAR-Based Place Recognition For Autonomous Driving: A Survey Yongjun Zhang Pengcheng Shi Jiayuan Li 44 23 0 18 Jun 2023
Adaptive Robotic Information Gathering via Non-Stationary Gaussian Processes Weizhe (Wesley) Chen Roni Khardon Lantao Liu 37 9 0 02 Jun 2023
Resilient and Distributed Multi-Robot Visual SLAM: Datasets, Experiments, and Lessons Learned Yulun Tian Yun Chang Long Quang Arthur Schang Carlos Nieto-Granda Jonathan P. How Luca Carlone 42 22 0 10 Apr 2023
Large-Scale Exploration of Cave Environments by Unmanned Aerial Vehicles Pavel Petráček Vít Krátký Matěj Petrlík Tomáš Báča R. Kratochvíl Martin Saska 43 59 0 06 Mar 2023
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge Anushri Dixit David D. Fan K. Otsu S. Dey Ali-Akbar Agha-Mohammadi J. W. Burdick 32 75 0 02 Mar 2023
Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments Amanda Bouman Joshua Ott Sung-Kyun Kim Kenny Chen Mykel J. Kochenderfer B. Lopez Ali-akbar Agha-mohammadi J. W. Burdick 32 11 0 06 Feb 2023
Flexible Supervised Autonomy for Exploration in Subterranean Environments Harel Biggie Eugene R. Rush Danny G. Riley Shakeeb Ahmad Michael T. Ohradzansky ... Daniel Torres Steve McGuire Eric W. Frew Christoffer Heckman J. Humbert 36 14 0 02 Jan 2023
DeepMapping2: Self-Supervised Large-Scale LiDAR Map Optimization Chao-Yeh Chen Xinhao Liu Yiming Li Li Ding Chen Feng 3DPC SSL 42 15 0 13 Dec 2022
A Framework for Collaborative Multi-Robot Mapping using Spectral Graph Wavelets Lukas Bernreiter Shehryar Khattak Lionel Ott Roland Siegwart Marco Hutter Cesar Cadena 32 4 0 25 Oct 2022
DCL-SLAM: A Distributed Collaborative LiDAR SLAM Framework for a Robotic Swarm Shipeng Zhong Yuhua Qi Zhiqiang Chen Jin Wu Hongbo Chen Mingming Liu 17 43 0 21 Oct 2022
InTEn-LOAM: Intensity and Temporal Enhanced LiDAR Odometry and Mapping Shuaixin Li B. Tian Xiaozhou Zhu Jianjun Gui Yao Wen Guangyun Li 34 3 0 13 Sep 2022
General Place Recognition Survey: Towards the Real-world Autonomy Age Peng Yin Shiqi Zhao Ivan Cisneros Abulikemu Abuduweili Guoquan Huang Micheal Milford Changliu Liu Howie Choset Sebastian Scherer 53 29 0 09 Sep 2022
Present and Future of SLAM in Extreme Underground Environments K. Ebadi Lukas Bernreiter Harel Biggie Gavin Catt Yun Chang ... Martin Saska Sebastian Scherer Roland Siegwart Jason L. Williams Luca Carlone 38 46 0 02 Aug 2022
AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments Peng Yin Haowen Lai Shiqi Zhao Ruohai Ge Ji Zhang Howie Choset Sebastian Scherer 24 32 0 14 Jul 2022
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned Marco Tranzatto M. Dharmadhikari Lukas Bernreiter Marco Camurri Shehryar Khattak ... M. Mueller Maurice F. Fallon Roland Siegwart Marco Hutter Kostas Alexis 36 36 0 11 Jul 2022
Distributed Ranging SLAM for Multiple Robots with Ultra-WideBand and Odometry Measurements Ran Liu Zhongyuan Deng Zhiqiang Cao Muhammad Shalihan Billy Pik Lik Lau Kaixiang Chen Kaushik Bhowmik Chau Yuen U-Xuan Tan 26 16 0 08 Jul 2022
Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments Xianmei Lei Taeyeon Kim Nicolas Marchal Daniel Pastor Barry Ridge ... Edward Terry Fernando Chavez Thomas Touma K. Otsu A. Agha 36 6 0 21 Jun 2022
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT Matěj Petrlík Pavel Petráček Vít Krátký Tomáš Musil Yurii Stasinchuk ... Tomáš Báča Daniel Heřt M. Pecka Tomáš Svoboda Martin Saska 36 24 0 16 Jun 2022
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments Yun Chang K. Ebadi Chris Denniston M. Ginting Antoni Rosinol ... Jingang Shi Arghya Chatterjee B. Morrell Ali-akbar Agha-mohammadi Luca Carlone 39 102 0 26 May 2022
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM Chris Denniston Yun Chang Andrzej Reinke K. Ebadi Gaurav Sukhatme Luca Carlone B. Morrell Ali-akbar Agha-mohammadi 56 25 0 24 May 2022
PropEM-L: Radio Propagation Environment Modeling and Learning for Communication-Aware Multi-Robot Exploration Lillian Clark J. Edlund M. S. Net T. Vaquero Ali-akbar Agha-mohammadi 17 11 0 03 May 2022
FIG-OP: Exploring Large-Scale Unknown Environments on a Fixed Time Budget Oriana Peltzer Amanda Bouman Sung-Kyun Kim Ransalu Senanayake Joshua Ott ... Mamoru Sobue Mykel Kochenderfer Mac Schwager J. W. Burdick Ali-akbar Agha-mohammadi 32 16 0 12 Mar 2022
Distributed Riemannian Optimization with Lazy Communication for Collaborative Geometric Estimation Yulun Tian Amrit Singh Bedi Alec Koppel Miguel Calvo-Fullana David M. Rosen Jonathan P. How 24 5 0 02 Mar 2022
Collaborative Robot Mapping using Spectral Graph Analysis Lukas Bernreiter Shehryar Khattak Lionel Ott Roland Siegwart Marco Hutter Cesar Cadena 27 9 0 01 Mar 2022
MetroLoc: Metro Vehicle Mapping and Localization with LiDAR-Camera-Inertial Integration Yusheng Wang Weiwei Song Yi Zhang Fei Huang Zhiyong Tu Y. Lou 22 4 0 01 Nov 2021
Multi-Agent Autonomy: Advancements and Challenges in Subterranean Exploration Michael T. Ohradzansky Eugene R. Rush Danny G. Riley Andrew B. Mills Shakeeb Ahmad ... Kyle Harlow Michael J. Miles Eric W. Frew Christoffer Heckman J. Humbert 26 43 0 08 Oct 2021
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds Kenny Chen B. Lopez Ali-akbar Agha-mohammadi Ankur M. Mehta 64 132 0 01 Oct 2021
Beyond Robustness: A Taxonomy of Approaches towards Resilient Multi-Robot Systems Amanda Prorok Matthew Malencia Luca Carlone Gaurav Sukhatme Brian M. Sadler Vijay Kumar 101 53 0 25 Sep 2021
GPGM-SLAM: a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps Riccardo Giubilato Cedric Le Gentil Mallikarjuna Vayugundla M. J. Schuster Teresa Vidal-Calleja Rudolph Triebel 29 9 0 14 Sep 2021
Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape Pierre-Yves Lajoie Benjamin Ramtoula Fang Wu Giovanni Beltrame 28 62 0 18 Aug 2021
Design and Deployment of an Autonomous Unmanned Ground Vehicle for Urban Firefighting Scenarios Kshitij Jindal Anthony Wang Dinesh Thakur Alex Zhou Vojtech Spurný V. Walter G. Broughton T. Krajník Martin Saska Giuseppe Loianno 13 6 0 08 Jul 2021
Scalable and Elastic LiDAR Reconstruction in Complex Environments Through Spatial Analysis Yiduo Wang Milad Ramezani Matías Mattamala Maurice F. Fallon 34 2 0 29 Jun 2021
Simple But Effective Redundant Odometry for Autonomous Vehicles Andrzej Reinke Xieyuanli Chen C. Stachniss 18 15 0 25 May 2021
Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments Shibo Zhao Hengrui Zhang Peng Wang Lucas Nogueira Sebastian Scherer 24 151 0 30 Apr 2021
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge A. Agha K. Otsu B. Morrell David D. Fan Rohan Thakker ... Giovanni Beltrame G. Nikolakopoulos David Hyunchul Shim Luca Carlone J. W. Burdick 45 142 0 21 Mar 2021
STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation David D. Fan K. Otsu Y. Kubo Anushri Dixit J. W. Burdick Ali-Akbar Agha-Mohammadi 38 57 0 04 Mar 2021