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Kimera-Multi: Robust, Distributed, Dense Metric-Semantic SLAM for Multi-Robot Systems


Jun 28, 2021
Yulun Tian, Yun Chang, Fernando Herrera Arias, Carlos Nieto-Granda, Jonathan P. How, Luca Carlone

* 18 pages, 15 figures 

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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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Kimera: from SLAM to Spatial Perception with 3D Dynamic Scene Graphs


Jan 24, 2021
Antoni Rosinol, Andrew Violette, Marcus Abate, Nathan Hughes, Yun Chang, Jingnan Shi, Arjun Gupta, Luca Carlone

* 34 pages, 25 figures, 9 tables. arXiv admin note: text overlap with arXiv:2002.06289 

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Kimera-Multi: a System for Distributed Multi-Robot Metric-Semantic Simultaneous Localization and Mapping


Nov 08, 2020
Yun Chang, Yulun Tian, Jonathan P. How, Luca Carlone

* 9 pages 

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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


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Kimera: an Open-Source Library for Real-Time Metric-Semantic Localization and Mapping


Oct 06, 2019
Antoni Rosinol, Marcus Abate, Yun Chang, Luca Carlone

* 8 pages 

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DOOR-SLAM: Distributed, Online, and Outlier Resilient SLAM for Robotic Teams


Sep 26, 2019
Pierre-Yves Lajoie, Benjamin Ramtoula, Yun Chang, Luca Carlone, Giovanni Beltrame

* 8 pages, 11 figures, 2 tables 

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