Title
Deploying Foundation Model-Enabled Air and Ground Robots in the Field: Challenges and Opportunities Zachary Ravichandran Fernando Cladera Jason Hughes Varun Murali M. Hsieh George J. Pappas Camillo J Taylor Vijay R. Kumar LM&Ro 40 0 0 14 May 2025
Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey Chuqi Wang Chao-Hua Yu Xin Xu Yuman Gao Xinyi Yang ... ZhuoZhu Jian Xinyu Chen Fei Gao Boyu Zhou Yu Wang 57 0 0 10 Mar 2025
Steppability-informed Quadrupedal Contact Planning through Deep Visual Search Heuristics M. Asselmeier Ye Zhao Patricio A. Vela 47 0 0 03 Jan 2025
Multi-Objective Risk Assessment Framework for Exploration Planning Using Terrain and Traversability Analysis Riana Gagnon Souleiman V. Varadharajan Giovanni Beltrame 27 0 0 04 Oct 2024
MURP: Multi-Agent Ultra-Wideband Relative Pose Estimation with Constrained Communications in 3D Environments Andrew Fishberg Brian J. Quiter Jonathan P. How 46 5 0 29 Dec 2023
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots Philip Arm Gabriel Waibel Jan Preisig Turcan Tuna Ruyi Zhou ... G. Ligeza Takahiro Miki F. Kehl H. Kolvenbach Marco Hutter 25 62 0 19 Jul 2023
Air Bumper: A Collision Detection and Reaction Framework for Autonomous MAV Navigation Ruoyu Wang Zixuan Guo Yizhou Chen Xinyi Wang Ben M. Chen 28 2 0 12 Jul 2023
Rhino: An Autonomous Robot for Mapping Underground Mine Environments Christopher Tatsch J. A. Bredu Dylan Covell I. B. Tulu Yu Gu 29 6 0 11 May 2023
Reactive Multi-agent Coordination using Auction-based Task Allocation and Behavior Trees Niklas Dahlquist B. Lindqvist Akshit Saradagi G. Nikolakopoulos 27 5 0 04 Apr 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 26 11 0 06 Feb 2023
PACED-5G: Predictive Autonomous Control using Edge for Drones over 5G V. N. Sankaranarayanan Gerasimos Damigos Achilleas Santi Seisa S. Satpute Tore Lindgren G. Nikolakopoulos 24 7 0 30 Jan 2023
Fast and Scalable Signal Inference for Active Robotic Source Seeking Chris Denniston Oriana Peltzer Joshua Ott S. Moon Sung-Kyun Kim Gaurav Sukhatme Mykel J. Kochenderfer Mac Schwager Ali-akbar Agha-mohammadi 23 5 0 06 Jan 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 26 14 0 02 Jan 2023
Learning Robotic Navigation from Experience: Principles, Methods, and Recent Results Sergey Levine Dhruv Shah SSL 34 21 0 13 Dec 2022
DeepMapping2: Self-Supervised Large-Scale LiDAR Map Optimization Chao-Yeh Chen Xinhao Liu Yiming Li Li Ding Chen Feng 3DPC SSL 37 15 0 13 Dec 2022
Collision-tolerant Aerial Robots: A Survey Paolo De Petris S. Carlson C. Papachristos Kostas Alexis 34 4 0 06 Dec 2022
Towards Energy Efficient Autonomous Exploration of Mars Lava Tube with a Martian Coaxial Quadrotor Akash Patel Stefan Karlsson B. Lindqvist Christoforos Kanellakis Ali Akbar Agha Mohammadi G. Nikolakopoulos 24 10 0 13 Nov 2022
Sim-to-Real via Sim-to-Seg: End-to-end Off-road Autonomous Driving Without Real Data John So Amber Xie Sunggoo Jung J. Edlund Rohan Thakker Ali Agha-mohammadi Pieter Abbeel Stephen James 28 9 0 25 Oct 2022
GNM: A General Navigation Model to Drive Any Robot Dhruv Shah A. Sridhar Arjun Bhorkar Noriaki Hirose Sergey Levine 24 103 0 07 Oct 2022
A Taxonomy of Semantic Information in Robot-Assisted Disaster Response Tianshu Ruan Hao Wang Rustam Stolkin Manolis Chiou 21 1 0 30 Sep 2022
Risk-aware Meta-level Decision Making for Exploration Under Uncertainty Joshua Ott Sung-Kyun Kim Amanda Bouman Oriana Peltzer Mamoru Sobue Harrison Delecki Mykel J. Kochenderfer J. W. Burdick Ali-akbar Agha-mohammadi 48 6 0 12 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 31 45 0 02 Aug 2022
Learning to Assess Danger from Movies for Cooperative Escape Planning in Hazardous Environments Vikram Shree Sarah Allen B. Asfora Jacopo Banfi Mark E. Campbell 26 2 0 27 Jul 2022
Reactive Navigation of an Unmanned Aerial Vehicle with Perception-based Obstacle Avoidance Constraints B. Lindqvist Sina Sharif Mansouri Jakub Haluška G. Nikolakopoulos 29 13 0 04 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 34 6 0 21 Jun 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 41 25 0 24 May 2022
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping Andrzej Reinke M. Palieri B. Morrell Yun Chang K. Ebadi Luca Carlone Ali-akbar Agha-mohammadi 51 69 0 24 May 2022
Marsupial Walking-and-Flying Robotic Deployment for Collaborative Exploration of Unknown Environments Paolo De Petris Shehryar Khattak M. Dharmadhikari Gabriel Waibel Huan Nguyen Markus Montenegro Nikhil Khedekar Kostas Alexis Marco Hutter 26 12 0 11 May 2022
Multi-Agent Relative Pose Estimation with UWB and Constrained Communications Andrew Fishberg Jonathan P. How 20 26 0 21 Mar 2022
Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots M. Kulkarni M. Dharmadhikari Marco Tranzatto Samuel Zimmermann Victor Reijgwart ... C. Papachristos Lionel Ott Roland Siegwart Marco Hutter Kostas Alexis 32 77 0 11 Nov 2021
System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge Tomáš Rouček M. Pecka P. Čížek T. Petříček J. Bayer ... J. Faigl Karel Zimmermann Martin Saska Tomáš Svoboda T. Krajník 55 35 0 12 Oct 2021
Direct LiDAR Odometry: Fast Localization with Dense Point Clouds Kenny Chen B. Lopez Ali-akbar Agha-mohammadi Ankur M. Mehta 56 131 0 01 Oct 2021
Towards Collaborative Simultaneous Localization and Mapping: a Survey of the Current Research Landscape Pierre-Yves Lajoie Benjamin Ramtoula Fang Wu Giovanni Beltrame 23 61 0 18 Aug 2021
Learning Risk-aware Costmaps for Traversability in Challenging Environments David D. Fan Sharmita Dey Ali-akbar Agha-mohammadi Evangelos A. Theodorou 36 30 0 25 Jul 2021
Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems Yulun Tian Yun Chang Fernando Herrera Arias Carlos Nieto-Granda Jonathan P. How Luca Carlone 25 172 0 28 Jun 2021
Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter with Adaptive Behaviors S. Fakoorian Angel Santamaria-Navarro B. Lopez D. Simon Ali-akbar Agha-mohammadi 19 21 0 29 Mar 2021
Robust Collision-free Lightweight Aerial Autonomy for Unknown Area Exploration Sunggoo Jung Hanseob Lee David Hyunchul Shim Ali-akbar Agha-mohammadi 15 11 0 10 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 27 55 0 04 Mar 2021
DARE-SLAM: Degeneracy-Aware and Resilient Loop Closing in Perceptually-Degraded Environments K. Ebadi M. Palieri Sally Wood C. Padgett Ali-akbar Agha-mohammadi 58 49 0 09 Feb 2021
LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments Andrea Tagliabue J. Tordesillas Xiaoyi Cai Angel Santamaria-Navarro Jonathan P. How Luca Carlone Ali-akbar Agha-mohammadi 41 53 0 05 Feb 2021
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion Amanda Bouman M. Ginting Nikhilesh Alatur M. Palieri David D. Fan ... T. Pailevanian Sung-Kyun Kim K. Otsu J. W. Burdick Ali-akbar Agha-mohammadi 106 128 0 19 Oct 2020
The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version) Ali-akbar Agha-mohammadi Andrea Tagliabue S. Schneider B. Morrell Marco Pavone ... I. Nesnas R. Amini A. Kalantari A. Babuscia J. Lunine 22 8 0 16 Mar 2020
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection Heng Yang Pasquale Antonante Vasileios Tzoumas Luca Carlone 164 224 0 18 Sep 2019
ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras Raul Mur-Artal Juan D. Tardós 204 5,375 0 20 Oct 2016