Get our free extension to see links to code for papers anywhere online!

Chrome logo  Add to Chrome

Firefox logo Add to Firefox
Picture for Benjamin Morrell

Benjamin Morrell
Alert button

Jet Propulsion Lab., California Institute of Technology and

Present and Future of SLAM in Extreme Underground Environments


Aug 02, 2022
Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petráček, Matěj Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone

Add code
Alert button

Figure 1 for Present and Future of SLAM in Extreme Underground Environments
Figure 2 for Present and Future of SLAM in Extreme Underground Environments
Figure 3 for Present and Future of SLAM in Extreme Underground Environments
Figure 4 for Present and Future of SLAM in Extreme Underground Environments
* 21 pages including references. This survey paper is submitted to IEEE Transactions on Robotics for pre-approval 
   Access Paper or Ask Questions
  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments


May 31, 2022
Yun Chang, Kamak Ebadi, Christopher E. Denniston, Muhammad Fadhil Ginting, Antoni Rosinol, Andrzej Reinke, Matteo Palieri, Jingnan Shi, Arghya Chatterjee, Benjamin Morrell, Ali-akbar Agha-mohammadi, Luca Carlone

Add code
Alert button

Figure 1 for LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Figure 2 for LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Figure 3 for LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Figure 4 for LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments

   Access Paper or Ask Questions
  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM


May 24, 2022
Christopher E. Denniston, Yun Chang, Andrzej Reinke, Kamak Ebadi, Gaurav S. Sukhatme, Luca Carlone, Benjamin Morrell, Ali-akbar Agha-mohammadi

Add code
Alert button

Figure 1 for Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Figure 2 for Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Figure 3 for Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
Figure 4 for Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM

   Access Paper or Ask Questions
  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping


May 24, 2022
Andrzej Reinke, Matteo Palieri, Benjamin Morrell, Yun Chang, Kamak Ebadi, Luca Carlone, Ali-akbar Agha-mohammadi

Add code
Alert button

Figure 1 for LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping
Figure 2 for LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping
Figure 3 for LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping
Figure 4 for LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping

   Access Paper or Ask Questions
  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Exploring Event Camera-based Odometry for Planetary Robots


Apr 12, 2022
Florian Mahlknecht, Daniel Gehrig, Jeremy Nash, Friedrich M. Rockenbauer, Benjamin Morrell, Jeff Delaune, Davide Scaramuzza

Add code
Alert button

Figure 1 for Exploring Event Camera-based Odometry for Planetary Robots
Figure 2 for Exploring Event Camera-based Odometry for Planetary Robots
Figure 3 for Exploring Event Camera-based Odometry for Planetary Robots
Figure 4 for Exploring Event Camera-based Odometry for Planetary Robots

   Access Paper or Ask Questions
  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge


Mar 28, 2021
Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker, Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira Saboia Da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Shim, Luca Carlone, Joel Burdick

Add code
Alert button

Figure 1 for NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Figure 2 for NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Figure 3 for NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Figure 4 for NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
* For team website, see https://costar.jpl.nasa.gov/ 
   Access Paper or Ask Questions
  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments


Oct 31, 2020
Yasin Almalioglu, Angel Santamaria-Navarro, Benjamin Morrell, Ali-akbar Agha-mohammadi

Add code
Alert button

Figure 1 for Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments
Figure 2 for Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments
Figure 3 for Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments
Figure 4 for Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments
* Submitted to ICRA2021 
   Access Paper or Ask Questions
  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

Towards Resilient Autonomous Navigation of Drones


Aug 21, 2020
Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-akbar Agha-mohammadi

Add code
Alert button

Figure 1 for Towards Resilient Autonomous Navigation of Drones
Figure 2 for Towards Resilient Autonomous Navigation of Drones
Figure 3 for Towards Resilient Autonomous Navigation of Drones
Figure 4 for Towards Resilient Autonomous Navigation of Drones
* In International Symposium on Robotics Research (ISRR) 2019 
   Access Paper or Ask Questions
  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)


Mar 16, 2020
Ali-akbar Agha-mohammadi, Andrea Tagliabue, Stephanie Schneider, Benjamin Morrell, Marco Pavone, Jason Hofgartner, Issa A. D. Nesnas, Rashied B. Amini, Arash Kalantari, Alessandra Babuscia, Jonathan Lunine

Add code
Alert button

Figure 1 for The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)
Figure 2 for The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)
Figure 3 for The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)
Figure 4 for The Shapeshifter: a Morphing, Multi-Agent,Multi-Modal Robotic Platform for the Exploration of Titan (preprint version)
* Ali-akbar Agha-mohammadi is the Principal Investigator. arXiv admin note: substantial text overlap with arXiv:2002.00515 
   Access Paper or Ask Questions
  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email

LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments


Mar 05, 2020
Kamak Ebadi, Yun Chang, Matteo Palieri, Alex Stephens, Alex Hatteland, Eric Heiden, Abhishek Thakur, Nobuhiro Funabiki, Benjamin Morrell, Sally Wood, Luca Carlone, Ali-akbar Agha-mohammadi

Add code
Alert button

Figure 1 for LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
Figure 2 for LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
Figure 3 for LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
Figure 4 for LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments

   Access Paper or Ask Questions
  • Share via Twitter
  • Share via Facebook
  • Share via LinkedIn
  • Share via Whatsapp
  • Share via Messenger
  • Share via Email
1
2
>>