Benjamin Morrell
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View article: An Addendum to NeBula: Toward Extending Team CoSTAR’s Solution to Larger Scale Environments
An Addendum to NeBula: Toward Extending Team CoSTAR’s Solution to Larger Scale Environments Open
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 exte…
View article: Simultaneous localization and mapping architecture for small bodies and space exploration
Simultaneous localization and mapping architecture for small bodies and space exploration Open
The development of autonomous robotic platforms for space applications such as satellites, robotic manipulators and rovers has driven the need for reliable control and navigation techniques. Simultaneous Localization and Mapping (SLAM) alg…
View article: Swarm Manager: Sdn-Inspired Computation Offloading Management in Heterogeneous Multi-Robot Networks
Swarm Manager: Sdn-Inspired Computation Offloading Management in Heterogeneous Multi-Robot Networks Open
View article: Present and Future of SLAM in Extreme Underground Environments
Present and Future of SLAM in Extreme Underground Environments Open
This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT competition. In particular, the paper has four main goals. Fi…
View article: Exploring Event Camera-Based Odometry for Planetary Robots
Exploring Event Camera-Based Odometry for Planetary Robots Open
Due to their resilience to motion blur and high robustness in low-light and high dynamic range conditions, event cameras are poised to become enabling sensors for vision-based exploration on future Mars helicopter missions. However, existi…
View article: NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge
NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge Open
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the tec…
View article: LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping Open
Lidar odometry has attracted considerable attention as a robust localization method for autonomous robots operating in complex GNSS-denied environments. However, achieving reliable and efficient performance on heterogeneous platforms in la…
View article: LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments Open
Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and percep…
View article: Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM Open
Multi-robot SLAM systems in GPS-denied environments require loop closures to maintain a drift-free centralized map. With an increasing number of robots and size of the environment, checking and computing the transformation for all the loop…
View article: Exploring Event Camera-based Odometry for Planetary Robots
Exploring Event Camera-based Odometry for Planetary Robots Open
Due to their resilience to motion blur and high robustness in low-light and high dynamic range conditions, event cameras are poised to become enabling sensors for vision-based exploration on future Mars helicopter missions. However, existi…
View article: Towards Resilient Autonomous Navigation of Drones
Towards Resilient Autonomous Navigation of Drones Open
View article: Autonomous Exploration of Small Bodies Toward Greater Autonomy for Deep Space Missions
Autonomous Exploration of Small Bodies Toward Greater Autonomy for Deep Space Missions Open
Autonomy is becoming increasingly important for the robotic exploration of unpredictable environments. One such example is the approach, proximity operation, and surface exploration of small bodies. In this article, we present an overview …
View article: Corrections to “LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time” [Apr 21 421-428]
Corrections to “LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time” [Apr 21 421-428] Open
Authors Benjamin Morrell, Kamak Ebadi, Jeremy Nash and Aliakbar Agha-mohammadi in the above-named work [ibid., IEEE Robot. Automat. Lett., vol. 6, no. 2, pp. 421–428, Apr. 2020] were incorrectly affiliated with the Polytechnic University o…
View article: NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge Open
This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the tec…
View article: NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM\n CoSTAR at the DARPA Subterranean Challenge
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM\n CoSTAR at the DARPA Subterranean Challenge Open
This paper presents and discusses algorithms, hardware, and software\narchitecture developed by the TEAM CoSTAR (Collaborative SubTerranean\nAutonomous Robots), competing in the DARPA Subterranean Challenge.\nSpecifically, it presents the …
View article: Volcanic Caves as Priority Sites for Astrobiology Science
Volcanic Caves as Priority Sites for Astrobiology Science Open
We have the technological capability-today-to map and explore mines and caves on Earth.The purpose of this white paper is to urge NASA's support for development of technology needed to enter a planetary cave with a scientific payload for l…
View article: Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments
Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments Open
In recent years, unsupervised deep learning approaches have received significant attention to estimate the depth and visual odometry (VO) from unlabelled monocular image sequences. However, their performance is limited in challenging envir…
View article: The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)
The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version) Open
In this report for the Nasa NIAC Phase I study, we present a mission architecture and a robotic platform, the Shapeshifter, that allow multi-domain and redundant mobility on Saturn's moon Titan, and potentially other bodies with atmosphere…
View article: LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments Open
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry inaccura…
View article: LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of\n Perceptually-Degraded Subterranean Environments
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of\n Perceptually-Degraded Subterranean Environments Open
Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and\ncomplex subterranean environments is a challenging problem. Sensors must\noperate in off-nominal conditions; uneven and slippery terrains make wheel\nodometry inacc…
View article: Enhancing 3D Autonomous Navigation Through Obstacle Fields: Homogeneous Localisation and Mapping, with Obstacle-Aware Trajectory Optimisation
Enhancing 3D Autonomous Navigation Through Obstacle Fields: Homogeneous Localisation and Mapping, with Obstacle-Aware Trajectory Optimisation Open
Small flying robots have numerous potential applications, from quadrotors for search and rescue, infrastructure inspection and package delivery to free-flying satellites for assistance activities inside a space station. To enable these app…