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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.
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A. Tagliabue, J. Tordesillas, X. Cai, A. Santamaria-Navarro, J. How, L. Carlone, and A. Agha-mohammadi, “LION: Lidar-Inertial Observability-aware Navigator for vision-denied environments,” in 17th International Symposium on Experimental Robotics , 2021, p. To appear
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