An Addendum to NeBula: Toward Extending Team CoSTAR’s Solution to Larger Scale Environments Article Swipe

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Benjamin Morrell , Kyohei Otsu , Ali Agha , David D. Fan , Sung-Kyun Kim , Muhammad Fadhil Ginting , Xianmei Lei , Jeffrey A. Edlund , Seyed Fakoorian , Amanda Bouman , Fernando Chávez , Taeyeon Kim , Gustavo J. Correa , Maíra Saboia da Silva , Àngel Santamaria‐Navarro , Brett T. Lopez , Boseong Kim , Chanyoung Jung , Mamoru Sobue , Oriana Peltzer , Joshua Ott , Robert Trybula , Thomas Touma , Marcel Kaufmann , Tiago Vaquero , Torkom Pailevanian , Matteo Palieri , Yun Chang , Andrzej Reinke , Matthew Anderson , Frederik E. T. Schöller , Patrick Spieler , Lillian Clark , Avak Archanian , Kenny Chen , Hovhannes Melikyan , Anushri Dixit , Harrison Delecki , Daniel Pastor , Barry Ridge , Nicolas Marchal , Jose Uribe , Sharmita Dey , Kamak Ebadi , Kyle Coble , Alexander Nikitas Dimopoulos , Vivek Thangavelu , Vivek Shankar Varadharajan , Nicholas Palomo , Antoni Rosinol , A. Chatterjee , Christoforos Kanellakis , Björn Lindqvist , Micah Corah , Kyle Strickland , Ryan Stonebraker , Michael Milano , Christopher E. Denniston , Sami Sahnoune , Thomas Claudet , Seung-Wook Lee , Gautam Salhotra , Edward D. Terry , Rithvik Musuku , Robin Schmid , Tony Tran , Ara Kourchians , Justin Schachter , Héctor Azpúrua , Levi Resende , Arash Kalantari , Jeremy Nash , Josh Lee , Christopher J. Patterson , Jennifer G. Blank , Kartik Patath , Yuki Kubo , Ryan Alimo , Yasin Almalıoğlu , Aaron Curtis , Jacqueline Sly , Tesla Wells , Nhut Ho , Mykel J. Kochenderfer , Giovanni Beltrame , George Nikolakopoulos , David Hyunchul Shim , Luca Carlone , Joel W. Burdick ·

YOU? · · 2024 · Open Access · · DOI: https://doi.org/10.1109/tfr.2024.3430891

This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents extensions to NeBula's hardware, software, and algorithmic components that focus on increasing the range and scale of the exploration environment. From the algorithmic perspective, we discuss the following extensions to the original NeBula framework: (i) large-scale geometric and semantic environment mapping; (ii) an adaptive positioning system; (iii) probabilistic traversability analysis and local planning; (iv) large-scale POMDP-based global motion planning and exploration behavior; (v) large-scale networking and decentralized reasoning; (vi) communication-aware mission planning; and (vii) multi-modal ground-aerial exploration solutions. We demonstrate the application and deployment of the presented systems and solutions in various large-scale underground environments, including limestone mine exploration scenarios as well as deployment in the DARPA Subterranean challenge.

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Addendum Scale (ratio) Nebula Geography Astrophysics Physics Cartography Philosophy Linguistics Stars

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Type: article
Language: en
Landing Page: https://doi.org/10.1109/tfr.2024.3430891
OA Status: green
Cited By: 6
References: 113
Related Works: 10
OpenAlex ID: https://openalex.org/W4401718262

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DOI: https://doi.org/10.1109/tfr.2024.3430891

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Title: An Addendum to NeBula: Toward Extending Team CoSTAR’s Solution to Larger Scale Environments

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Language: en

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Publication year: 2024

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Authors: Benjamin Morrell, Kyohei Otsu, Ali Agha, David D. Fan, Sung-Kyun Kim, Muhammad Fadhil Ginting, Xianmei Lei, Jeffrey A. Edlund, Seyed Fakoorian, Amanda Bouman, Fernando Chávez, Taeyeon Kim, Gustavo J. Correa, Maíra Saboia da Silva, Àngel Santamaria‐Navarro, Brett T. Lopez, Boseong Kim, Chanyoung Jung, Mamoru Sobue, Oriana Peltzer, Joshua Ott, Robert Trybula, Thomas Touma, Marcel Kaufmann, Tiago Vaquero, Torkom Pailevanian, Matteo Palieri, Yun Chang, Andrzej Reinke, Matthew Anderson, Frederik E. T. Schöller, Patrick Spieler, Lillian Clark, Avak Archanian, Kenny Chen, Hovhannes Melikyan, Anushri Dixit, Harrison Delecki, Daniel Pastor, Barry Ridge, Nicolas Marchal, Jose Uribe, Sharmita Dey, Kamak Ebadi, Kyle Coble, Alexander Nikitas Dimopoulos, Vivek Thangavelu, Vivek Shankar Varadharajan, Nicholas Palomo, Antoni Rosinol, A. Chatterjee, Christoforos Kanellakis, Björn Lindqvist, Micah Corah, Kyle Strickland, Ryan Stonebraker, Michael Milano, Christopher E. Denniston, Sami Sahnoune, Thomas Claudet, Seung-Wook Lee, Gautam Salhotra, Edward D. Terry, Rithvik Musuku, Robin Schmid, Tony Tran, Ara Kourchians, Justin Schachter, Héctor Azpúrua, Levi Resende, Arash Kalantari, Jeremy Nash, Josh Lee, Christopher J. Patterson, Jennifer G. Blank, Kartik Patath, Yuki Kubo, Ryan Alimo, Yasin Almalıoğlu, Aaron Curtis, Jacqueline Sly, Tesla Wells, Nhut Ho, Mykel J. Kochenderfer, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel W. Burdick

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Landing page: https://doi.org/10.1109/tfr.2024.3430891

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Concepts: Addendum, Scale (ratio), Nebula, Geography, Astrophysics, Physics, Cartography, Philosophy, Linguistics, Stars

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Cited by: 6

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