An Examination of Feature Detection for Real-Time Visual Odometry in Untextured Natural Terrain. - Kyohei Otsu; Masatsugu Otsuki; Genya Ishigami; Takashi Kubota (RiTA, 2012)

Experiments on Stereo Visual Odometry in Feature-Less Volcanic Fields. - Kyohei Otsu; Masatsugu Otsuki; Takashi Kubota (FSR, 2013)

Terrain adaptive detector selection for visual odometry in natural scenes. - Kyohei Otsu; Masatsugu Otsuki; Genya Ishigami; Takashi Kubota (Adv. Robotics, 2013)

A two-point algorithm for stereo visual odometry in open outdoor environments. - Kyohei Otsu; Takashi Kubota (ICRA, 2014)

Energy-Aware Terrain Analysis for Mobile Robot Exploration. - Kyohei Otsu; Takashi Kubota (FSR, 2015)

Autonomous Terrain Classification With Co- and Self-Training Approach. - Kyohei Otsu; Masahiro Ono; Thomas J. Fuchs; Ian Baldwin; Takashi Kubota (IEEE Robotics Autom. Lett., 2016)

Probabilistic Kinematic State Estimation for Motion Planning of Planetary Rovers. - Sourish Ghosh; Kyohei Otsu; Masahiro Ono (IROS, 2018)

Toward Specification-Guided Active Mars Exploration for Cooperative Robot Teams. - Petter Nilsson; Sofie Haesaert; Rohan Thakker; Kyohei Otsu; Cristian Ioan Vasile; Ali-Akbar Agha-Mohammadi; Richard M. Murray; Aaron D. Ames (Robotics: Science and Systems, 2018)

Fast Approximate Clearance Evaluation for Kinematically Constrained Articulated Suspension Systems. - Kyohei Otsu; Guillaume Matheron; Sourish Ghosh; Olivier Toupet; Masahiro Ono (CoRR, 2018)

Where to Look? Predictive Perception With Applications to Planetary Exploration. - Kyohei Otsu; Ali-Akbar Agha-Mohammadi; Michael Paton (IEEE Robotics Autom. Lett., 2018)

Vision-Based Estimation of Driving Energy for Planetary Rovers Using Deep Learning and Terramechanics. - Shoya Higa; Yumi Iwashita; Kyohei Otsu; Masahiro Ono; Olivier Lamarre; Annie Didier; Mark Hoffmann (IEEE Robotics Autom. Lett., 2019)

Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion. - 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 (IROS, 2020)

Autonomous Off-Road Navigation over Extreme Terrains with Perceptually-Challenging Conditions. - Rohan Thakker; Nikhilesh Alatur; David D. Fan; Jesus Tordesillas; Michael Paton; Kyohei Otsu; Olivier Toupet; Ali-akbar Agha-mohammadi (ISER, 2020)

Fast approximate clearance evaluation for rovers with articulated suspension systems. - Kyohei Otsu; Guillaume Matheron; Sourish Ghosh; Olivier Toupet; Masahiro Ono (J. Field Robotics, 2020)

Perception-aware autonomous mast motion planning for planetary exploration rovers. - Jared Strader; Kyohei Otsu; Ali-akbar Agha-mohammadi (J. Field Robotics, 2020)

Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration. - Takahiro Sasaki; Kyohei Otsu; Rohan Thakker; Sofie Haesaert; Ali-akbar Agha-mohammadi (IEEE Robotics Autom. Lett., 2020)

PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments. - Sung-Kyun Kim; Amanda Bouman; Gautam Salhotra; David D. Fan; Kyohei Otsu; Joel Burdick; Ali-akbar Agha-mohammadi (ICAPS, 2021)

STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation. - David D. Fan; Kyohei Otsu; Yuki Kubo; Anushri Dixit; Joel Burdick; Ali-akbar Agha-mohammadi (Robotics: Science and Systems, 2021)

STEP: Stochastic Traversability Evaluation and Planning for Safe Off-road Navigation. - David D. Fan; Kyohei Otsu; Yuki Kubo; Anushri Dixit; Joel Burdick; Ali-Akbar Agha-Mohammadi (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)

CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments. - Muhammad Fadhil Ginting; Kyohei Otsu; Jeffrey A. Edlund; Jay Gao; Ali-Akbar Agha-Mohammadi (IEEE Robotics Autom. Lett., 2021)

PrePARE: Predictive Proprioception for Agile Failure Event Detection in Robotic Exploration of Extreme Terrains. - Sharmita Dey; David D. Fan; Robin Schmid; Anushri Dixit; Kyohei Otsu; Thomas Touma; Arndt F. Schilling; Ali-Akbar Agha-Mohammadi (IROS, 2022)

Capability-Aware Task Allocation and Team Formation Analysis for Cooperative Exploration of Complex Environments. - Muhammad Fadhil Ginting; Kyohei Otsu; Mykel J. Kochenderfer; Ali-akbar Agha-mohammadi (IROS, 2022)

Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments. - Xianmei Lei; Taeyeon Kim; Nicolas Marchal; Daniel Pastor; Barry Ridge; Frederik Schöller; Edward Terry; Fernando Chavez; Thomas Touma; Kyohei Otsu; Benjamin Morrell; Ali Agha (IROS, 2022)

Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain. - Robin Schmid; Deegan Atha; Frederik Schöller; Sharmita Dey; Seyed Abolfazl Fakoorian; Kyohei Otsu; Barry Ridge; Marko Bjelonic; Lorenz Wellhausen; Marco Hutter 001; Ali-akbar Agha-mohammadi (IROS, 2022)

ROSE: Robust State Estimation via Online Covariance Adaption. - Seyed Abolfazl Fakoorian; Kyohei Otsu; Shehryar Khattak; Matteo Palieri; Ali-akbar Agha-mohammadi (ISRR, 2022)

Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface. - Marcel Kaufmann; Robert Trybula; Ryan Stonebraker; Michael Milano; Gustavo J. Correa; Tiago Stegun Vaquero; Kyohei Otsu; Ali-akbar Agha-mohammadi; Giovanni Beltrame (CoRR, 2022)

Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments. - Xianmei Lei; Taeyeon Kim; Nicolas Marchal; Daniel Pastor; Barry Ridge; Frederik Schöller; Edward Terry; Fernando Chavez; Thomas Touma; Kyohei Otsu; Ali Agha (CoRR, 2022)

ACHORD: Communication-Aware Multi-Robot Coordination With Intermittent Connectivity. - Maira Saboia; Lillian Clark; Vivek Thangavelu; Jeffrey A. Edlund; Kyohei Otsu; Gustavo J. Correa; Vivek Shankar Varadharajan; Angel Santamaria-Navarro; Thomas Touma; Amanda Bouman; Hovhannes Melikyan; Torkom Pailevanian; et al. (IEEE Robotics Autom. Lett., 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)

EELS: Towards Autonomous Mobility in Extreme Terrain with a Versatile Snake Robot with Resilience to Exteroception Failures. - Rohan Thakker; Michael Paton; Marlin P. Strub; R. Michael Swan; Guglielmo Daddi; Rob Royce; L. Phillipe Tosi; Matthew Gildner; Tiago Vaquero; Marcel Veismann; Peter V. Gavrilov; Eloise Marteau; et al. (IROS, 2023)

STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation; Results from the DARPA Subterranean Challenge. - Anushri Dixit; David D. Fan; Kyohei Otsu; Sharmita Dey; Ali-Akbar Agha-Mohammadi; Joel Burdick (Field Robotics, 2024)

EELS: Autonomous snake-like robot with task and motion planning capabilities for ice world exploration. - Tiago Stegun Vaquero; Guglielmo Daddi; Rohan Thakker; Michael Paton; Ashkan Jasour; Marlin P. Strub; R. Michael Swan; Rob Royce; Matthew Gildner; L. Phillipe Tosi; Marcel Veismann; Peter V. Gavrilov; et al. (Sci. Robotics, 2024)

An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments. - Ali Agha; Kyohei Otsu; Benjamin Morrell; David D. Fan; Sung-Kyun Kim; Muhammad Fadhil Ginting; Xianmei Lei; Jeffrey A. Edlund; Seyed Abolfazl Fakoorian; Amanda Bouman; Fernando Chavez; Taeyeon Kim; et al. (CoRR, 2025)