Publications

Below are several papers describing recent results from the NeBula framework:

• "NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge," Accepted for publication in the Journal of Field Robotics, 2021. [PDF]
• "Autonomous Spot: Long-range Autonomous Exploration of Extreme Environments with Legged Locomotion," IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, USA, 2020. Best Paper Award on Safety, Security, and Rescue Robotics.[PDF] [Video]
• "Deep Learning Tubes for Tube MPC," Robotics: Science and Systems (RSS), Corvallis, USA, 2020. [PDF]
• “Confidence-rich 3D Grid Mapping,” International Journal of Robotics Research (IJRR), vol.38, pp.1352-1374, 2019. [PDF]
• "Autonomous Navigation of Drones,” The International Symposium on Robotics Research (ISRR). Hanoi, Vietnam, 2019. [PDF]
• “Bi-directional Value Learning for Risk-aware Planning Under Uncertainty,” IEEE Robotics and Automation Letters (RA-L), vol.4, no.3, pp.2493-2500, March, 2019. [PDF]
• "LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments," IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020. [PDF]
• "LOCUS - LiDAR Odometry for Consistent Operation in Uncertain Settings", IEEE Robotics and Automation Letters (RA-L). 2020. [PDF][Video]
• “Contact Inertial Odometry: Collisions are your Friend,” The International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, 2019. [PDF]

Below is a list of papers describing recent results from the NeBula framework and papers that the NeBula framework is built on: