Benjamin Morrell

According to our database, Benjamin Morrell authored at least 22 papers between 2018 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2024

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge.

Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone

IEEE Trans. Robotics, 2024

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, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Thomas Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hovhannes Melikyan, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick

Field Robotics, March, 2022

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping.

Andrzej Reinke, Matteo Palieri, Benjamin Morrell, Yun Chang, Kamak Ebadi, Luca Carlone, Ali-Akbar Agha-Mohammadi

IEEE Robotics Autom. Lett., 2022

Exploring Event Camera-Based Odometry for Planetary Robots.

Florian Mahlknecht, Daniel Gehrig, Jeremy Nash, Friedrich M. Rockenbauer, Benjamin Morrell, Jeff Delaune, Davide Scaramuzza

IEEE Robotics Autom. Lett., 2022

Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM.

Christopher E. Denniston, Yun Chang, Andrzej Reinke, Kamak Ebadi, Gaurav S. Sukhatme, Luca Carlone, Benjamin Morrell, Ali-akbar Agha-mohammadi

IEEE Robotics Autom. Lett., 2022

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments.

Yun Chang, Kamak Ebadi, Christopher E. Denniston, Muhammad Fadhil Ginting, Antoni Rosinol, Andrzej Reinke, Matteo Palieri, Jingnan Shi, Arghya Chatterjee, Benjamin Morrell, Ali-akbar Agha-mohammadi, Luca Carlone

IEEE Robotics Autom. Lett., 2022

Present and Future of SLAM in Extreme Underground Environments.

Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee, Christopher E. Denniston, Simon-Pierre Deschênes, Kyle Harlow, Shehryar Khattak, Lucas Nogueira, Matteo Palieri, Pavel Petrácek, Matej Petrlík, Andrzej Reinke, Vít Krátký, Shibo Zhao, Ali-akbar Agha-mohammadi, Kostas Alexis, Christoffer Heckman, Kasra Khosoussi, Navinda Kottege, Benjamin Morrell, Marco Hutter, Fred Pauling, François Pomerleau, Martin Saska, Sebastian A. Scherer, Roland Siegwart, Jason L. Williams, Luca Carlone

CoRR, 2022

LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time Underground 3D Mapping.

Andrzej Reinke, Matteo Palieri, Benjamin Morrell, Yun Chang, Kamak Ebadi, Luca Carlone, Ali-akbar Agha-mohammadi

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, Benjamin Morrell, Ali Agha

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

2021

3D Shape Reconstruction of Small Bodies From Sparse Features.

Benjamin Jarvis, Gary P. T. Choi, Benjamin J. Hockman, Benjamin Morrell, Saptarshi Bandopadhyay, Daniel P. Lubey, Jacopo Villa, Shyam Bhaskaran, David S. Bayard, Issa Nesnas

IEEE Robotics Autom. Lett., October, 2021

Corrections to "LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time".

Matteo Palieri, Benjamin Morrell, Abhishek Thakur, Kamak Ebadi, Jeremy Nash, Arghya Chatterjee, Christoforos Kanellakis, Luca Carlone, Cataldo Guaragnella, Ali-akbar Agha-mohammadi

IEEE Robotics Autom. Lett., 2021

LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time.

Matteo Palieri, Benjamin Morrell, Abhishek Thakur, Kamak Ebadi, Jeremy Nash, Arghya Chatterjee, Christoforos Kanellakis, Luca Carlone, Cataldo Guaragnella, Ali-akbar Agha-mohammadi

IEEE Robotics Autom. Lett., 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

Autonomous Exploration of Small Bodies Toward Greater Autonomy for Deep Space Missions.

Issa A. D. Nesnas, Benjamin J. Hockman, Saptarshi Bandopadhyay, Benjamin Morrell, Daniel P. Lubey, Jacopo Villa, David S. Bayard, Alan Osmundson, Benjamin Jarvis, Michele Bersani, Shyam Bhaskaran

Frontiers Robotics AI, 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, Matthew Anderson, Torkom Pailevanian, Edward Terry, Michael T. Wolf, Andrea Tagliabue, Tiago Stegun Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari, Fernando Chavez, Brett Thomas Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma, Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash, William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo, Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maíra Saboia da Silva, Benjamin Ramtoula, Yuki Kubo, Seyed Abolfazl Fakoorian, Alexander Hatteland, Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry A. Leopold, Hyungho Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee, Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David Hyunchul Shim, Luca Carlone, Joel Burdick

CoRR, 2021

Unsupervised Deep Persistent Monocular Visual Odometry and Depth Estimation in Extreme Environments.

Yasin Almalioglu, Angel Santamaria-Navarro, Benjamin Morrell, Ali-Akbar Agha-Mohammadi

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

2020

The Shapeshifter: a Morphing, Multi-Agent, Multi-Modal Robotic Platform for the Exploration of Titan (preprint version).

Ali-akbar Agha-mohammadi, Andrea Tagliabue, Stephanie Schneider, Benjamin Morrell, Marco Pavone, Jason Hofgartner, Issa A. D. Nesnas, Rashied B. Amini, Arash Kalantari, Alessandra Babuscia, Jonathan I. Lunine

CoRR, 2020

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

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Towards Resilient Autonomous Navigation of Drones.

Angel Santamaria-Navarro, Rohan Thakker, David D. Fan, Benjamin Morrell, Ali-akbar Agha-mohammadi

Proceedings of the Robotics Research, 2019

An Autonomous Quadrotor System for Robust High-Speed Flight Through Cluttered Environments Without GPS.

Marc Rigter, Benjamin Morrell, Robert G. Reid, Gene B. Merewether, Theodore Tzanetos, Vinay Rajur, K. C. Wong, Larry H. Matthies

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019

2018

Comparison of Trajectory Optimization Algorithms for High-Speed Quadrotor Flight Near Obstacles.

Benjamin Morrell, Rohan Thakker, Gene Merewether, Robert Reid, Marc Rigter, Theodore Tzanetos, Gregory E. Chamitoff

IEEE Robotics Autom. Lett., 2018

Differential Flatness Transformations for Aggressive Quadrotor Flight.

Benjamin Morrell, Marc Rigter, Gene Merewether, Robert Reid, Rohan Thakker, Theodore Tzanetos, Vinay Rajur, Gregory E. Chamitoff

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018