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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

* For team website, see https://costar.jpl.nasa.gov/ 

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PANTHER: Perception-Aware Trajectory Planner in Dynamic Environments


Mar 10, 2021
Jesus Tordesillas, Jonathan P. How

* 8 pages 

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LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments


Feb 05, 2021
Andrea Tagliabue, Jesus Tordesillas, Xiaoyi Cai, Angel Santamaria-Navarro, Jonathan P. How, Luca Carlone, Ali-akbar Agha-mohammadi

* 2020 International Symposium on Experimental Robotics (ISER 2020) 

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Autonomous Off-road Navigation over Extreme Terrains with Perceptually-challenging Conditions


Jan 26, 2021
Rohan Thakker, Nikhilesh Alatur, David D. Fan, Jesus Tordesillas, Michael Paton, Kyohei Otsu, Olivier Toupet, Ali-akbar Agha-mohammadi

* 12 Pages, 7 Figures, 2020 International Symposium on Experimental Robotics (ISER 2020) 

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MADER: Trajectory Planner in Multi-Agent and Dynamic Environments


Oct 21, 2020
Jesus Tordesillas, Jonathan P. How

* 14 pages, 15 figures 

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MINVO Basis: Finding Simplexes with Minimum Volume Enclosing Polynomial Curves


Oct 21, 2020
Jesus Tordesillas, Jonathan P. How

* 17 pages, 16 figures 

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FASTER: Fast and Safe Trajectory Planner for Flights in Unknown Environments


Jan 09, 2020
Jesus Tordesillas, Brett T. Lopez, Michael Everett, Jonathan P. How

* Journal paper. arXiv admin note: text overlap with arXiv:1903.03558 

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Personalized Cancer Chemotherapy Schedule: a numerical comparison of performance and robustness in model-based and model-free scheduling methodologies


Apr 06, 2019
Jesus Tordesillas, Juncal Arbelaiz

* Added references 

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FaSTraP: Fast and Safe Trajectory Planner for Flights in Unknown Environments


Mar 08, 2019
Jesus Tordesillas, Brett T. Lopez, Jonathan P. How

* IROS 2019 

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Real-Time Planning with Multi-Fidelity Models for Agile Flights in Unknown Environments


Oct 02, 2018
Jesus Tordesillas, Brett T. Lopez, John Carter, John Ware, Jonathan P. How

* ICRA 2019 

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