VI-SLAM for Subterranean Environments. - Andrew Kramer; Mike Kasper; Christoffer Heckman (FSR, 2019)

Radar-Inertial Ego-Velocity Estimation for Visually Degraded Environments. - Andrew Kramer; Carl Stahoviak; Angel Santamaria-Navarro; Ali-akbar Agha-mohammadi; Christoffer Heckman (ICRA, 2020)

Radar-Inertial State Estimation and Obstacle Detection for Micro-Aerial Vehicles in Dense Fog. - Andrew Kramer; Christoffer Heckman (ISER, 2020)

ColoRadar: The Direct 3D Millimeter Wave Radar Dataset. - Andrew Kramer; Kyle Harlow; Christopher Williams; Christoffer Heckman (CoRR, 2021)

NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (CoRR, 2021)

ColoRadar: The direct 3D millimeter wave radar dataset. - Andrew Kramer; Kyle Harlow; Christopher R. Williams; Christoffer Heckman (Int. J. Robotics Res., 2022)

NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Rohan Thakker; Angel Santamaria-Navarro; Sung-Kyun Kim; Amanda Bouman; Xianmei Lei; Jeffrey A. Edlund; Muhammad Fadhil Ginting; Kamak Ebadi; et al. (Field Robotics, 2022)

Radar-Based Localization For Autonomous Ground Vehicles In Suburban Neighborhoods. - Andrew Kramer; Christoffer Heckman (CoRR, 2024)

Fine Grained Address Space Layout Randomization Using Noncontiguous Per-Function Memory Segment Assignment. - Andrew Kramer; Yong Wang (CCNC, 2025)