An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
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arXiv
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| Natura: | Preprint |
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2025
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| author | Agha, Ali Otsu, Kyohei Morrell, Benjamin Fan, David D. Kim, Sung-Kyun Ginting, Muhammad Fadhil Lei, Xianmei Edlund, Jeffrey Fakoorian, Seyed Bouman, Amanda Chavez, Fernando Kim, Taeyeon Correa, Gustavo J. Saboia, Maira Santamaria-Navarro, Angel Lopez, Brett Kim, Boseong Jung, Chanyoung Sobue, Mamoru Peltzer, Oriana Claudia Ott, Joshua Trybula, Robert Touma, Thomas Kaufmann, Marcel Vaquero, Tiago Stegun Pailevanian, Torkom Palieri, Matteo Chang, Yun Reinke, Andrzej Anderson, Matthew Schöller, Frederik E. T. Spieler, Patrick Clark, Lillian M. Archanian, Avak Chen, Kenny Melikyan, Hovhannes Dixit, Anushri Delecki, Harrison Pastor, Daniel Ridge, Barry Marchal, Nicolas Uribe, Jose Dey, Sharmita Ebadi, Kamak Coble, Kyle Dimopoulos, Alexander Nikitas Thangavelu, Vivek Varadharajan, Vivek S. Palomo, Nicholas Rosinol, Antoni Chatterjee, Arghya Kanellakis, Christoforos Lindqvist, Bjorn Corah, Micah Strickland, Kyle Stonebraker, Ryan Milano, Michael Denniston, Christopher E. Sahnoune, Sami Claudet, Thomas Lee, Seungwook Salhotra, Gautam Terry, Edward Musuku, Rithvik Schmid, Robin Tran, Tony Kourchians, Ara Schachter, Justin Azpurua, Hector Resende, Levi Kalantari, Arash Nash, Jeremy Lee, Josh Patterson, Christopher Blank, Jennifer G. Patath, Kartik Kubo, Yuki Alimo, Ryan Almalioglu, Yasin Curtis, Aaron Sly, Jacqueline Wells, Tesla Ho, Nhut T. Kochenderfer, Mykel Beltrame, Giovanni Nikolakopoulos, George Shim, David Carlone, Luca Burdick, Joel |
| author_facet | Agha, Ali Otsu, Kyohei Morrell, Benjamin Fan, David D. Kim, Sung-Kyun Ginting, Muhammad Fadhil Lei, Xianmei Edlund, Jeffrey Fakoorian, Seyed Bouman, Amanda Chavez, Fernando Kim, Taeyeon Correa, Gustavo J. Saboia, Maira Santamaria-Navarro, Angel Lopez, Brett Kim, Boseong Jung, Chanyoung Sobue, Mamoru Peltzer, Oriana Claudia Ott, Joshua Trybula, Robert Touma, Thomas Kaufmann, Marcel Vaquero, Tiago Stegun Pailevanian, Torkom Palieri, Matteo Chang, Yun Reinke, Andrzej Anderson, Matthew Schöller, Frederik E. T. Spieler, Patrick Clark, Lillian M. Archanian, Avak Chen, Kenny Melikyan, Hovhannes Dixit, Anushri Delecki, Harrison Pastor, Daniel Ridge, Barry Marchal, Nicolas Uribe, Jose Dey, Sharmita Ebadi, Kamak Coble, Kyle Dimopoulos, Alexander Nikitas Thangavelu, Vivek Varadharajan, Vivek S. Palomo, Nicholas Rosinol, Antoni Chatterjee, Arghya Kanellakis, Christoforos Lindqvist, Bjorn Corah, Micah Strickland, Kyle Stonebraker, Ryan Milano, Michael Denniston, Christopher E. Sahnoune, Sami Claudet, Thomas Lee, Seungwook Salhotra, Gautam Terry, Edward Musuku, Rithvik Schmid, Robin Tran, Tony Kourchians, Ara Schachter, Justin Azpurua, Hector Resende, Levi Kalantari, Arash Nash, Jeremy Lee, Josh Patterson, Christopher Blank, Jennifer G. Patath, Kartik Kubo, Yuki Alimo, Ryan Almalioglu, Yasin Curtis, Aaron Sly, Jacqueline Wells, Tesla Ho, Nhut T. Kochenderfer, Mykel Beltrame, Giovanni Nikolakopoulos, George Shim, David Carlone, Luca Burdick, Joel |
| contents | This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents extensions to NeBula's hardware, software, and algorithmic components that focus on increasing the range and scale of the exploration environment. From the algorithmic perspective, we discuss the following extensions to the original NeBula framework: (i) large-scale geometric and semantic environment mapping; (ii) an adaptive positioning system; (iii) probabilistic traversability analysis and local planning; (iv) large-scale POMDP-based global motion planning and exploration behavior; (v) large-scale networking and decentralized reasoning; (vi) communication-aware mission planning; and (vii) multi-modal ground-aerial exploration solutions. We demonstrate the application and deployment of the presented systems and solutions in various large-scale underground environments, including limestone mine exploration scenarios as well as deployment in the DARPA Subterranean challenge. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_13461 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments Agha, Ali Otsu, Kyohei Morrell, Benjamin Fan, David D. Kim, Sung-Kyun Ginting, Muhammad Fadhil Lei, Xianmei Edlund, Jeffrey Fakoorian, Seyed Bouman, Amanda Chavez, Fernando Kim, Taeyeon Correa, Gustavo J. Saboia, Maira Santamaria-Navarro, Angel Lopez, Brett Kim, Boseong Jung, Chanyoung Sobue, Mamoru Peltzer, Oriana Claudia Ott, Joshua Trybula, Robert Touma, Thomas Kaufmann, Marcel Vaquero, Tiago Stegun Pailevanian, Torkom Palieri, Matteo Chang, Yun Reinke, Andrzej Anderson, Matthew Schöller, Frederik E. T. Spieler, Patrick Clark, Lillian M. Archanian, Avak Chen, Kenny Melikyan, Hovhannes Dixit, Anushri Delecki, Harrison Pastor, Daniel Ridge, Barry Marchal, Nicolas Uribe, Jose Dey, Sharmita Ebadi, Kamak Coble, Kyle Dimopoulos, Alexander Nikitas Thangavelu, Vivek Varadharajan, Vivek S. Palomo, Nicholas Rosinol, Antoni Chatterjee, Arghya Kanellakis, Christoforos Lindqvist, Bjorn Corah, Micah Strickland, Kyle Stonebraker, Ryan Milano, Michael Denniston, Christopher E. Sahnoune, Sami Claudet, Thomas Lee, Seungwook Salhotra, Gautam Terry, Edward Musuku, Rithvik Schmid, Robin Tran, Tony Kourchians, Ara Schachter, Justin Azpurua, Hector Resende, Levi Kalantari, Arash Nash, Jeremy Lee, Josh Patterson, Christopher Blank, Jennifer G. Patath, Kartik Kubo, Yuki Alimo, Ryan Almalioglu, Yasin Curtis, Aaron Sly, Jacqueline Wells, Tesla Ho, Nhut T. Kochenderfer, Mykel Beltrame, Giovanni Nikolakopoulos, George Shim, David Carlone, Luca Burdick, Joel Robotics Systems and Control This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents extensions to NeBula's hardware, software, and algorithmic components that focus on increasing the range and scale of the exploration environment. From the algorithmic perspective, we discuss the following extensions to the original NeBula framework: (i) large-scale geometric and semantic environment mapping; (ii) an adaptive positioning system; (iii) probabilistic traversability analysis and local planning; (iv) large-scale POMDP-based global motion planning and exploration behavior; (v) large-scale networking and decentralized reasoning; (vi) communication-aware mission planning; and (vii) multi-modal ground-aerial exploration solutions. We demonstrate the application and deployment of the presented systems and solutions in various large-scale underground environments, including limestone mine exploration scenarios as well as deployment in the DARPA Subterranean challenge. |
| title | An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2504.13461 |