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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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STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation


Mar 04, 2021
David D. Fan, Kyohei Otsu, Yuki Kubo, Anushri Dixit, Joel Burdick, Ali-Akbar Agha-Mohammadi

* Under review. Video link: https://youtu.be/N97cv4eH5c8 

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PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments


Feb 10, 2021
Sung-Kyun Kim, Amanda Bouman, Gautam Salhotra, David D. Fan, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi


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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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Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion


Nov 01, 2020
Amanda Bouman, Muhammad Fadhil Ginting, Nikhilesh Alatur, Matteo Palieri, David D. Fan, Thomas Touma, Torkom Pailevanian, Sung-Kyun Kim, Kyohei Otsu, Joel Burdick, Ali-akbar Agha-mohammadi

* Updated copyright statement 

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Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration


Aug 17, 2020
Takahiro Sasaki, Kyohei Otsu, Rohan Thakker, Sofie Haesaert, Ali-akbar Agha-mohammadi

* IEEE Robotics and Automation Letters, Volume: 5 , Issue: 2 , April 2020 
* 8 pages, 7 figures 

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Perception-aware Autonomous Mast Motion Planning for Planetary Exploration Rovers


Dec 14, 2019
Jared Strader, Kyohei Otsu, Ali-akbar Agha-mohammadi

* Journal of Field Robotics, 2019 

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Fast Approximate Clearance Evaluation for Kinematically Constrained Articulated Suspension Systems


Jul 31, 2018
Kyohei Otsu, Guillaume Matheron, Sourish Ghosh, Olivier Toupet, Masahiro Ono


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