Papers citing 'Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge'

Title
MonoSpheres: Large-Scale Monocular SLAM-Based UAV Exploration through Perception-Coupled Mapping and Planning Tomáš Musil Matěj Petrlík Martin Saska MDE 68 0 0 21 Nov 2025
Semantics-aware Predictive Inspection Path Planning M. Dharmadhikari Kostas Alexis 100 0 0 06 Jun 2025
Multi-Robot System for Cooperative Exploration in Unknown Environments: A Survey Chuqi Wang Xinlei Chen Xin Xu Yuman Gao Xinyi Yang ... ZhuoZhu Jian Xinyu Chen Fei Gao Boyu Zhou Yu Wang 410 10 0 10 Mar 2025
Physical simulation of Marsupial UAV-UGV Systems Connected by a Variable-Length Hanging Tether Jose Enrique Maese F. Caballero L. Merino 317 0 0 17 Dec 2024
Capability-aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex EnvironmentsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 M. Ginting K. Otsu Mykel J. Kochenderfer Ali-akbar Agha-mohammadi 203 4 0 01 Nov 2024
Multi-Objective Risk Assessment Framework for Exploration Planning Using Terrain and Traversability Analysis Riana Gagnon Souleiman V. Varadharajan Giovanni Beltrame 110 0 0 04 Oct 2024
Safe Navigation in Unmapped Environments for Robotic Systems with Input Constraints Amirsaeid Safari Jesse B. Hoagg 193 1 0 03 Oct 2024
CAVERNAUTE: a design and manufacturing pipeline of a rigid but foldable indoor airship aerial system for cave exploration Catar Louis Tabiai Ilyass St-Onge David 113 0 0 11 Sep 2024
Time-Varying Soft-Maximum Barrier Functions for Safety in Unmapped and Dynamic EnvironmentsIEEE Transactions on Control Systems Technology (TCST), 2024 Amirsaeid Safari Jesse B. Hoagg 259 9 0 02 Sep 2024
A robust baro-radar-inertial odometry m-estimator for multicopter navigation in cities and forestsInternational Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), 2024 Rik Girod Marco Hauswirth Patrick Pfreundschuh Mariano Biasio Roland Siegwart 204 7 0 11 Aug 2024
An efficient strategy for path planning with a tethered marsupial robotics system Jesús Capitán J. M. Díaz-Bánez M. A. Pérez-Cutino Fabio Rodríguez Inmaculada Ventura 170 3 0 04 Aug 2024
Scaling 3D Reasoning with LMMs to Large Robot Mission Environments Using Datagraphs W. J. Meijer A. C. Kemmeren E.H.J. Riemens J. E. Fransman M. V. Bekkum G. J. Burghouts J. D. V. Mil 197 0 0 15 Jul 2024
Air-Ground Collaboration with SPOMP: Semantic Panoramic Online Mapping and Planning Ian D. Miller Fernando Cladera Trey Smith Camillo J Taylor Vijay Kumar 229 12 0 13 Jul 2024
QuadrupedGPT: Towards a Versatile Quadruped Agent in Open-ended Worlds Ye Wang Yuting Mei Sipeng Zheng Qin Jin LRM 278 9 0 24 Jun 2024
SEEK: Semantic Reasoning for Object Goal Navigation in Real World Inspection Tasks M. Ginting Sung-Kyun Kim David D. Fan M. Palieri Mykel J. Kochenderfer Ali-akbar Agha-Mohammadi 185 19 0 16 May 2024
The Unreasonable Effectiveness of Pre-Trained Features for Camera Pose Refinement Gabriele Trivigno Carlo Masone Barbara Caputo Torsten Sattler 162 16 0 16 Apr 2024
Under-Canopy Navigation using Aerial Lidar Maps Lucas Carvalho de Lima Nicholas Lawrance Kasra Khosoussi Paulo Borges Michael Bruenig 210 0 0 05 Apr 2024
RoadRunner - Learning Traversability Estimation for Autonomous Off-road Driving Jonas Frey Shehryar Khattak Manthan Patel Deegan Atha Julian Nubert Curtis Padgett Marco Hutter Patrick Spieler 221 46 0 29 Feb 2024
STAGE: Scalable and Traversability-Aware Graph based Exploration Planner for Dynamically Varying Environments Akash Patel Mario A V Saucedo Christoforos Kanellakis G. Nikolakopoulos 141 6 0 04 Feb 2024
Semantic Belief Behavior Graph: Enabling Autonomous Robot Inspection in Unknown Environments M. Ginting David D. Fan Sung-Kyun Kim Mykel J. Kochenderfer Ali-akbar Agha-mohammadi 256 9 0 30 Jan 2024
FIT-SLAM -- Fisher Information and Traversability estimation-based Active SLAM for exploration in 3D environmentsInternational Conference on Automation, Robotics and Applications (ICARA), 2024 Suchetan Saravanan C. Chauffaut Caroline Ponzoni Carvalho Chanel Danilo Giordano 95 6 0 17 Jan 2024
Detecting Grasping Sites in a Martian Lava Tube: Multi-Stage Perception Trade Study for ReachBotIEEE Aerospace Conference (AERO), 2023 Julia Di 212 1 0 14 Dec 2023
Osprey: Multi-Session Autonomous Aerial Mapping with LiDAR-based SLAM and Next Best View Planning Rowan Border Nived Chebrolu Yifu Tao Jonathan Gammell Maurice F. Fallon 231 7 0 06 Nov 2023
ViPlanner: Visual Semantic Imperative Learning for Local NavigationIEEE International Conference on Robotics and Automation (ICRA), 2023 Pascal Roth Julian Nubert Fan Yang Mayank Mittal Marco Hutter 272 56 0 02 Oct 2023
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged RobotsScience Robotics (Sci. Robot.), 2023 Philip Arm Gabriel Waibel Jan Preisig Turcan Tuna Ruyi Zhou ... G. Ligeza Takahiro Miki F. Kehl H. Kolvenbach Marco Hutter 148 103 0 19 Jul 2023
Air Bumper: A Collision Detection and Reaction Framework for Autonomous MAV NavigationIEEE International Conference on Robotics and Automation (ICRA), 2023 Ruoyu Wang Zixuan Guo Yizhou Chen Xinyi Wang Ben M. Chen 136 3 0 12 Jul 2023
ForestTrav: Accurate, Efficient and Deployable Forest Traversability Estimation for Autonomous Ground Vehicles Fabio Ruetz Nicholas Lawrance E. Hernández Paulo Borges Thierry Peynot 230 0 0 22 May 2023
Fast Traversability Estimation for Wild Visual Navigation Jonas Frey Matías Mattamala Nived Chebrolu Cesar Cadena Maurice F. Fallon Marco Hutter 212 88 0 15 May 2023
Rhino: An Autonomous Robot for Mapping Underground Mine Environments Christopher Tatsch J. A. Bredu Dylan Covell I. B. Tulu Yu Gu 280 11 0 11 May 2023
Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration Alexander Kyuroson Niklas Dahlquist Nikolaos Stathoulopoulos Vignesh Kottayam Viswanathan A. Koval G. Nikolakopoulos 302 4 0 27 Apr 2023
Collaborative Ground-Aerial Multi-Robot System for Disaster Response Missions with a Low-Cost Drone Add-On for Off-the-Shelf Drones Shalutha Rajapakshe D. Wickramasinghe Sahan Gurusinghe Deepana Ishtaweera Bhanuka Silva P. Jayasekara Nick Panitz Paul Flick N. Kottege 75 3 0 14 Apr 2023
Semantics-aware Exploration and Inspection Path PlanningIEEE International Conference on Robotics and Automation (ICRA), 2023 M. Dharmadhikari Kostas Alexis 169 19 0 13 Mar 2023
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge N. Kottege Jason L. Williams Brendan Tidd Fletcher Talbot Ryan Steindl ... J. Manderson Corey Medek M. O'Brien Shengkang Chen R. Arkin 312 15 0 26 Feb 2023
Flexible Supervised Autonomy for Exploration in Subterranean EnvironmentsField Robotics (FR), 2023 Harel Biggie Eugene R. Rush Danny G. Riley Shakeeb Ahmad Michael T. Ohradzansky ... Daniel Torres Steve McGuire Eric W. Frew Christoffer Heckman J. Humbert 211 20 0 02 Jan 2023
Human-Robot Team Performance Compared to Full Robot Autonomy in 16 Real-World Search and Rescue Missions: Adaptation of the DARPA Subterranean Challenge Nicole L. Robinson Jason L. Williams David Howard Brendan Tidd Fletcher Talbot Brett Wood Alex Pitt N. Kottege Dana Kulić 137 6 0 11 Dec 2022
Wild-Places: A Large-Scale Dataset for Lidar Place Recognition in Unstructured Natural Environments Joshua Knights Kavisha Vidanapathirana Milad Ramezani Sridha Sridharan Clinton Fookes Peyman Moghadam 245 0 0 23 Nov 2022
LiDAR-guided object search and detection in Subterranean EnvironmentsIEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 2022 Manthan Patel Gabriel Waibel Shehryar Khattak Marco Hutter 122 6 0 26 Oct 2022
Virtual Reality via Object Pose Estimation and Active Learning: Realizing Telepresence Robots with Aerial Manipulation CapabilitiesField Robotics (FR), 2022 Jongseok Lee R. Balachandran K. Kondak Andre Coelho M. Stefano Matthias Humt Jianxiang Feng Tamim Asfour Rudolph Triebel 250 10 0 18 Oct 2022
RACER: Rapid Collaborative Exploration with a Decentralized Multi-UAV SystemIEEE Transactions on robotics (TRO), 2022 Boyu Zhou Hao Xu Shaojie Shen 192 167 0 18 Sep 2022
Present and Future of SLAM in Extreme Underground Environments K. Ebadi Lukas Bernreiter Harel Biggie Gavin Catt Yun Chang ... Martin Saska Sebastian Scherer Roland Siegwart Jason L. Williams Luca Carlone 189 51 0 02 Aug 2022
The Surface Edge Explorer (SEE): A measurement-direct approach to next best view planning Rowan Border Jonathan Gammell 226 14 0 27 Jul 2022
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons LearnedField Robotics (FR), 2022 Marco Tranzatto M. Dharmadhikari Lukas Bernreiter Marco Camurri Shehryar Khattak ... M. Mueller Maurice F. Fallon Roland Siegwart Marco Hutter Kostas Alexis 126 46 0 11 Jul 2022
Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded EnvironmentsIEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022 Xianmei Lei Taeyeon Kim Nicolas Marchal Daniel Pastor Barry Ridge ... Edward Terry Fernando Chavez Thomas Touma K. Otsu A. Agha 210 8 0 21 Jun 2022
UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT Matěj Petrlík Pavel Petráček Vít Krátký Tomáš Musil Yurii Stasinchuk ... Tomáš Báča Daniel Heřt M. Pecka Tomáš Svoboda Martin Saska 263 33 0 16 Jun 2022
ACHORD: Communication-Aware Multi-Robot Coordination with Intermittent ConnectivityIEEE Robotics and Automation Letters (RA-L), 2022 Maíra Saboia Lillian Clark Vivek Thangavelu J. Edlund K. Otsu ... T. Vaquero Giovanni Beltrame N. Napp G. Pessin Ali-akbar Agha-mohammadi 242 34 0 05 Jun 2022
Tree Reconstruction using Topology OptimisationRemote Sensing (RS), 2022 Thomas Lowe Joshua Pinskier 140 14 0 26 May 2022
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM Milad Ramezani Kasra Khosoussi Gavin Catt Peyman Moghadam Jason L. Williams Paulo Borges Fred Pauling N. Kottege 267 59 0 25 May 2022
Shared-Control Robotic Manipulation in Virtual Reality Shi-jing Xu Scott Moore Akansel Cosgun 163 20 0 21 May 2022
OHM: GPU Based Occupancy Map GenerationIEEE Robotics and Automation Letters (RA-L), 2022 Kazys Stepanas Jason L. Williams E. Hernández Fabio Ruetz Thomas Hines 118 19 0 26 Apr 2022
Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface Marcel Kaufmann Robert Trybula Ryan Stonebraker Michael Milano Gustavo Correa T. Vaquero K. Otsu Ali-akbar Agha-mohammadi Giovanni Beltrame 161 3 0 13 Apr 2022