LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments. - Kamak Ebadi; Yun Chang; Matteo Palieri; Alex Stephens; Alex Hatteland; Eric Heiden; Abhishek Thakur; Nobuhiro Funabiki; Benjamin Morrell; Sally L. Wood; Luca Carlone; Ali-akbar Agha-mohammadi (ICRA, 2020)

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)

Range-Aided Pose-Graph-Based SLAM: Applications of Deployable Ranging Beacons for Unknown Environment Exploration. - Nobuhiro Funabiki; Benjamin Morrell; Jeremy Nash; Ali-akbar Agha-mohammadi (IEEE Robotics Autom. Lett., 2021)

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)