Modular, Resilient, and Scalable System Design Approaches - Lessons learned in the years after DARPA Subterranean Challenge. - Prasanna Sriganesh; James Maier; Adam Johnson; Burhanuddin Shirose; Rohan Chandrasekar; Charles Noren; Joshua Spisak; Ryan Darnley; Bhaskar Vundurthy; Matthew Travers (CoRR, 2024)