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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 aid of GPS-assisted navigation.
Object detection in 20 years: A survey
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Multi-robot exploration controlled by a market economy
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Optimized link state routing protocol (OLSR)
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A new terrain mapping method for mobile robots obstacle negotiation
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Multi-robot area exploration with limited-range communications
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Probabilistic Robotics (Intelligent Robotics and Autonomous Agents)
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Planning algorithms
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LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping
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Speeded-up robust features (SURF)
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Towards Resilient Autonomous Navigation of Drones
Santamaria-Navarro, A., Thakker, R., Fan, D. D., Morrell, B., and Agha-mohammadi, A.-a. (2020) · 2008
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3d is here: Point cloud library (pcl)
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Imu preintegration on manifold for efficient visual-inertial maximum-a-posteriori estimation
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Fast R-CNN
Girshick, R. (2015) · 2015
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Multi-master ROS systems
Juan, S. H. and Cotarelo, F. H. (2015) · 2015
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Keyframe-based visual–inertial odometry using nonlinear optimization
Leutenegger, S., Lynen, S., Bosse, M., Siegwart, R., and Furgale, P. (2015) · 2015
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Voxnet: A 3d convolutional neural network for real-time object recognition
Maturana, D. and Scherer, S. (2015) · 2015
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A universal grid map library: Implementation and use case for rough terrain navigation
Fankhauser, P. and Hutter, M. (2016) · 2016
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Real-time loop closure in 2D LIDAR SLAM
Hess, W., Kohler, D., Rapp, H., and Andor, D. (2016) · 2016
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Multi-sensor slam with online self-calibration and change detection
Nobre, F., Heckman, C. R., and Sibley, G. T. (2017) · 2016
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You only look once: Unified, real-time object detection
Redmon, J., Divvala, S., Girshick, R., and Farhadi, A. (2016) · 2016
Graph-based subterranean exploration path planning using aerial and legged robots
Dang, T., Tranzatto, M., Khattak, S., Mascarich, F., Alexis, K., and Hutter, M. (2020) · 2020
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LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
Ebadi, K., Chang, Y., Palieri, M., Stephens, A., Hatteland, A., Heiden, E., Thakur, A., Funabiki, N., Morrell, B., Wood, S., Carlone, L., and Agha-Mohammadi, A. A. (2020) · 2020
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Complementary Multi–Modal Sensor Fusion for Resilient Robot Pose Estimation in Subterranean Environments
Khattak, S., Nguyen, H., Mascarich, F., Dang, T., and Alexis, K. (2020) · 2020
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DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams
Lajoie, P. Y., Ramtoula, B., Chang, Y., Carlone, L., and Beltrame, G. (2020) · 2020
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Mine Tunnel Exploration Using Multiple Quadrupedal Robots
Miller, I. D., Cohen, A., Kulkarni, A., Laney, J., Taylor, C. J., Kumar, V., Cladera, F., Cowley, A., Shivakumar, S. S., Lee, E. S., Jarin-Lipschitz, L., Bhat, A., Rodrigues, N., and Zhou, A. (2020) · 2020
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Supervised autonomy for exploration and mobile manipulation in rough terrain with a centaur-like robot
Schwarz, M., Beul, M., Droeschel, D., Schüller, S., Periyasamy, A. S., Lenz, C., Schreiber, M., and Behnke, S. (2016) · 2016
Cited alongside, same era.
Fog removal using laser beam penetration, laser intensity, and geometrical features for 3D measurements in fog-filled room
Shamsudin, A. U., Ohno, K., Westfechtel, T., Takahiro, S., Okada, Y., and Tadokoro, S. (2016) · 2016
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AprilTag 2: Efficient and robust fiducial detection
Wang, J. and Olson, E. (2016) · 2016
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Navigation planning for legged robots in challenging terrain
Wermelinger, M., Fankhauser, P., Diethelm, R., Krüsi, P., Siegwart, R., and Hutter, M. (2016) · 2016
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Driving on point clouds: Motion planning, trajectory optimization, and terrain assessment in generic nonplanar environments
Krüsi, P., Furgale, P., Bosse, M., and Siegwart, R. (2017) · 2017
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Pointnet: Deep learning on point sets for 3d classification and segmentation
Qi, C. R., Su, H., Mo, K., and Guibas, L. J. (2017) · 2017
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Reactive control and metric-topological planning for exploration
Ohradzansky, M. T., Mills, A. B., Rush, E. R., Riley, D. G., Frew, E. W., and Sean Humbert, J. (2020) · 2020
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Supervised autonomy for communication-degraded subterranean exploration by a robot team
Otsu, K., Tepsuporn, S., Thakker, R., Vaquero, T. S., Edlund, J. A., Walsh, W., Miles, G., Heywood, T., Wolf, M. T., and Agha-Mohammadi, A.-A. (2020) · 2020
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Darpa subterranean challenge: Multi-robotic exploration of underground environments
Rouček, T., Pecka, M., Čížek, P., Petříček, T., Bayer, J., Šalanský, V., Heřt, D., Petrlík, M., Báča, T., Spurný, V., Pomerleau, F., Kubelka, V., Faigl, J., Zimmermann, K., Saska, M., Svoboda, T., and Krajník, T. (2020) · 2020
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Online 3d frontier-based ugv and uav exploration using direct point cloud visibility
Williams, J., Jiang, S., O’Brien, M., Wagner, G., Hernandez, E., Cox, M., Pitt, A., Arkin, R., and Hudson, N. (2020) · 2020
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Nebula: Quest for robotic autonomy in challenging environments; team costar at the darpa subterranean challenge
Agha, A., Otsu, K., Morrell, B., Fan, D. D., Thakker, R., Santamaria-Navarro, A., Kim, S.-K., Bouman, A., Lei, X., Edlund, J. A., Ginting, M. F., Ebadi, K., Anderson, M. O., Pailevanian, T., Terry, E., Wolf, M. T., Tagliabue, A., Vaquero, T. S., Palieri, M., Tepsuporn, S., Chang, Y., Kalantari, A., Chavez, F., Lopez, B. T., Funabiki, N., Miles, G., Touma, T., Buscicchio, A., Tordesillas, J., Alatur, N., Nash, J., Walsh, W., Jung, S., Lee, H., Kanellakis, C., Mayo, J., Harper, S., Kaufmann, M., Dixit, A., Correa, G., Lee, C.-A., Gao, J. L., Merewether, G. B., Maldonado-Contreras, J., Salhotra, G., da Silva, M. S., Ramtoula, B., Fakoorian, S. A., Hatteland, A., Kim, T., Bartlett, T., Stephens, A., Kim, L., Bergh, C. F., Heiden, E., Lew, T., Cauligi, A., Heywood, T., Kramer, A., Leopold, H. A., Choi, C. S., Daftry, S., Toupet, O., Wee, I., Thakur, A., Feras, M., Beltrame, G., Nikolakopoulos, G., Shim, D. H., Carlone, L., and Burdick, J. W. (2021) · 2021
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3d reactive control and frontier-based exploration for unstructured environments
Ahmad, S., Mills, A. B., Rush, E. R., Frew, E. W., and Humbert, J. S. (2021a) · 2021
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Apf-pf: Probabilistic depth perception for 3d reactive obstacle avoidance
Ahmad, S., Sunberg, Z. N., and Humbert, J. S. (2021b) · 2021
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n0-sift: n -dimensional scale invariant feature transform
Cheung, W. and Hamarneh, G. (2009) · 2021
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STEP: Stochastic traversability evaluation and planning for safe off-road navigation
Fan, D. D., Otsu, K., Kubo, Y., Dixit, A., Burdick, J., and Agha-Mohammadi, A.-A. (2021) · 2021
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Virtual surfaces and attitude aware planning and behaviours for negative obstacle navigation
Hines, T., Stepanas, K., Talbot, F., Sa, I., Lewis, J., Hernandez, E., Kottege, N., and Hudson, N. (2021) · 2021
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Heterogeneous ground and air platforms, homogeneous sensing: Team csiro data61’s approach to the darpa subterranean challenge
Hudson, N., Talbot, F., Cox, M., Williams, J., Hines, T., Pitt, A., Wood, B., Frousheger, D., Surdo, K. L., Molnar, T., Steindl, R., Wildie, M., Sa, I., Kottege, N., Stepanas, K., Hernandez, E., Catt, G., Docherty, W., Tidd, B., Tam, B., Murrell, S., Bessell, M., Hanson, L., Tychsen-Smith, L., Suzuki, H., Overs, L., Kendoul, F., Wagner, G., Palmer, D., Milani, P., O’Brien, M., Jiang, S., Chen, S., and Arkin, R. C. (2021) · 2021
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Multi-agent autonomy: Advancements and challenges in subterranean exploration
Ohradzansky, M. T., Rush, E. R., Riley, D. G., Mills, A. B., Ahmad, S., McGuire, S., Biggie, H., Harlow, K., Miles, M. J., Frew, E. W., Heckman, C., and Humbert, J. S. (2021) · 2021
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MARBLE Mapping
Riley, D. G. (2021) · 2021
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Assessment of Coordinated Heterogeneous Exploration of Complex Environments
Riley, D. G. and Frew, E. W. (2021) · 2021
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Map analysis (version 1.0) [source code]
Schang, A., Rogers, J., and Maio, A. (2021) · 2021
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Resilient and modular subterranean exploration with a team of roving and flying robots
Scherer, S., Agrawal, V., Best, G., Cao, C., Cujic, K., Darnley, R., and et al. (2021) · 2021
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Unified Multi-Modal Landmark Tracking for Tightly Coupled Lidar-Visual-Inertial Odometry
Wisth, D., Camurri, M., Das, S., and Fallon, M. (2021) · 2021
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Efficient sampling-based planning for subterranean exploration
Ahmad, S. and Humbert, J. S. (2022) · 2022
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DARPA Subterranean Challenge
DARPA (2022) · 2022
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BOBCAT: Behaviors, Objectives and Binary states for Coordinated Autonomous Tasks
Riley, D. G. and Frew, E. W. (2022) · 2022
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