This article presents the core technologies and deployment strategies of Team CERBERUS
that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a …

This article surveys recent progress and discusses future opportunities for simultaneous
localization and mapping (SLAM) in extreme underground environments. SLAM in …

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 …

Traditional indoor facility inspections on pipelines and boilers are conducted manually and
can be logistically challenging, labor-intensive, costly, and dangerous for the inspectors …

This paper presents a state-of-the-art tethered unmanned aerial vehicle (TUAV) for structural
integrity assessment of underground stone mine pillars. The TUAV, powered by its tether …

This paper contributes a novel and modularized learning-based method for aerial robots
navigating cluttered environments containing hard-to-perceive thin obstacles without …

Covering over a third of all terrestrial land area, forests are crucial environments; as
ecosystems, for farming, and for human leisure. However, they are challenging to access for …

This paper presents a framework for Multi-Modal SLAM (MIMOSA) that utilizes a nonlinear
factor graph as the underlying representation to provide loosely-coupled fusion of any …

This paper contributes a novel strategy for semantics-aware autonomous exploration and
inspection path planning. Attuned to the fact that environments that need to be explored …

This paper presents a technique to model the residual dynamics between a high-level
planner and a low-level controller by considering reference trajectory tracking in a cluttered …