We propose a dual-resolution scheme to achieve time-efficient autonomous exploration with
one or many robots. The scheme maintains a high-resolution local map of the robot's …

This paper presents a novel strategy for autonomous teamed exploration of subterranean
environments using legged and aerial robots. Tailored to the fact that subterranean settings …

Simultaneous localization and mapping (SLAM) is a fundamental task for numerous
applications such as autonomous navigation and exploration. Despite many SLAM datasets …

This paper presents a novel approach for autonomous cooperating UAVs in search and
rescue operations in subterranean domains with complex topology. The proposed system …

We present a coordinated autonomy pipeline for multi-sensor exploration of confined
environments. We simultaneously address four broad challenges that are typically …

The process of designing costmaps for off-road driving tasks is often a challenging and
engineering-intensive task. Recent work in costmap design for off-road driving focuses on …

We present a coordinated autonomy pipeline for multi-sensor exploration of confined
environments. We simultaneously address four broad challenges that are typically …

This letter describes an incremental multimodal surface mapping methodology, which
represents the environment as a continuous probabilistic model. This model enables high …

While the capabilities of autonomous systems have been steadily improving in recent years,
these systems still struggle to rapidly explore previously unknown environments without the …

Traversability estimation in rugged, unstructured environments remains a challenging
problem in field robotics. Often, the need for precise, accurate traversability estimation is in …