{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,1]],"date-time":"2026-04-01T18:02:41Z","timestamp":1775066561389,"version":"3.50.1"},"reference-count":52,"publisher":"Institute of Electrical and Electronics Engineers (IEEE)","issue":"4","license":[{"start":{"date-parts":[[2022,10,1]],"date-time":"2022-10-01T00:00:00Z","timestamp":1664582400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/ieeexplore.ieee.org\/Xplorehelp\/downloads\/license-information\/IEEE.html"},{"start":{"date-parts":[[2022,10,1]],"date-time":"2022-10-01T00:00:00Z","timestamp":1664582400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2022,10,1]],"date-time":"2022-10-01T00:00:00Z","timestamp":1664582400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"name":"Jet Propulsion Laboratory – California Institute of Technology"},{"DOI":"10.13039\/100000104","name":"National Aeronautics and Space Administration","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000104","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100000185","name":"Defense Advanced Research Projects Agency","doi-asserted-by":"publisher","id":[{"id":"10.13039\/100000185","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IEEE Robot. Autom. Lett."],"published-print":{"date-parts":[[2022,10]]},"DOI":"10.1109\/lra.2022.3191204","type":"journal-article","created":{"date-parts":[[2022,7,15]],"date-time":"2022-07-15T19:32:33Z","timestamp":1657913553000},"page":"9175-9182","source":"Crossref","is-referenced-by-count":155,"title":["LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments"],"prefix":"10.1109","volume":"7","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-2829-5256","authenticated-orcid":false,"given":"Yun","family":"Chang","sequence":"first","affiliation":[{"name":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4094-7077","authenticated-orcid":false,"given":"Kamak","family":"Ebadi","sequence":"additional","affiliation":[{"name":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4188-5186","authenticated-orcid":false,"given":"Christopher E.","family":"Denniston","sequence":"additional","affiliation":[{"name":"Robotic Embedded Systems Laboratory, University of Southern California, Los Angeles, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4030-5151","authenticated-orcid":false,"given":"Muhammad Fadhil","family":"Ginting","sequence":"additional","affiliation":[{"name":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5244-0882","authenticated-orcid":false,"given":"Antoni","family":"Rosinol","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6905-200X","authenticated-orcid":false,"given":"Andrzej","family":"Reinke","sequence":"additional","affiliation":[{"name":"University of Bonn, Bonn, Germany"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8218-3346","authenticated-orcid":false,"given":"Matteo","family":"Palieri","sequence":"additional","affiliation":[{"name":"Department of Electrical and Information Engineering, Polytechnic University of Bari, Bari, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6918-3237","authenticated-orcid":false,"given":"Jingnan","family":"Shi","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0110-2311","authenticated-orcid":false,"given":"Arghya","family":"Chatterjee","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Bangladesh University of Engineering and Technology, Dhaka, Bangladesh"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9768-3615","authenticated-orcid":false,"given":"Benjamin","family":"Morrell","sequence":"additional","affiliation":[{"name":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5509-1841","authenticated-orcid":false,"given":"Ali-akbar","family":"Agha-mohammadi","sequence":"additional","affiliation":[{"name":"NASA Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1884-5397","authenticated-orcid":false,"given":"Luca","family":"Carlone","sequence":"additional","affiliation":[{"name":"Department of Aeronautics and Astronautics, Massachusetts Institute of Technology, Cambridge, MA, USA"}]}],"member":"263","reference":[{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2016.2624754"},{"key":"ref2","article-title":"Darpa subteranean (SUBT) challenge","year":"2021"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2003.1242260"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2004.1308117"},{"key":"ref5","first-page":"205","article-title":"Robot teams for exploration in underground environments","volume-title":"Proc. Workshop ROBOT11: Robtica Exp.","author":"Tardioli","year":"2012"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-70833-1_11"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-40686-7_32"},{"key":"ref8","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197082"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.3044864"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-021-01362-w"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-43890-6_22"},{"key":"ref12","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2970980"},{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341361"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/MFI49285.2020.9235268"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1007\/978-981-15-9460-1_12"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1002\/rob.22021"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2972872"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3061393"},{"key":"ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561099"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/AERO47225.2020.9172804"},{"key":"ref21","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3056380"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.1109\/ICUAS48674.2020.9213865"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3030190"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.33012\/2019.16912"},{"key":"ref25","article-title":"Multi-agent autonomy: Advancements and challenges in subterranean exploration","author":"Ohradzansky","year":"2021","journal-title":"arXiv:2110.04390"},{"key":"ref26","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-43890-6_15"},{"key":"ref27","doi-asserted-by":"publisher","DOI":"10.1109\/IROS51168.2021.9636773"},{"key":"ref28","doi-asserted-by":"publisher","DOI":"10.1007\/s10846-022-01665-6"},{"key":"ref29","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA40945.2020.9197156"},{"key":"ref30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-71151-1_35"},{"key":"ref31","doi-asserted-by":"publisher","DOI":"10.1109\/SSRR.2011.6106777"},{"key":"ref32","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-013-9327-2"},{"key":"ref33","doi-asserted-by":"publisher","DOI":"10.1109\/ICCV.2011.6126542"},{"issue":"2","key":"ref34","first-page":"416","article-title":"RTAB-Map as an open-source LiDAR and visual SLAM library for large-scale and long-term online operation","volume-title":"J. Field Robot.","volume":"36","author":"Labb","year":"2019"},{"key":"ref35","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2018.8594299"},{"key":"ref36","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2967681"},{"key":"ref37","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561090"},{"key":"ref38","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2965893"},{"key":"ref39","doi-asserted-by":"publisher","DOI":"10.1109\/tro.2021.3137751"},{"key":"ref40","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2022.3181357"},{"key":"ref41","doi-asserted-by":"publisher","DOI":"10.17159\/2411-9717\/862\/2020"},{"key":"ref42","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-95459-8_57"},{"key":"ref43","article-title":"Nebula: Quest for robotic autonomy in challenging environments; team costar at the Darpa subterranean challenge","author":"Agha","year":"2021","journal-title":"arXiv:2103.11470"},{"key":"ref44","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2012.2197158"},{"key":"ref45","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-71151-1_34"},{"key":"ref46","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487211"},{"key":"ref47","doi-asserted-by":"publisher","DOI":"10.1016\/j.aiopen.2021.01.001"},{"key":"ref48","doi-asserted-by":"publisher","DOI":"10.1109\/lra.2022.3191156"},{"key":"ref49","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3033695"},{"key":"ref50","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2009.5152473"},{"key":"ref51","doi-asserted-by":"publisher","DOI":"10.15607\/RSS.2009.V.021"},{"key":"ref52","article-title":"Factor Graphs and Gtsam: A Hands-on Introduction","author":"Dellaert","year":"2012"}],"container-title":["IEEE Robotics and Automation Letters"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/7083369\/9831196\/09830862.pdf?arnumber=9830862","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,2,1]],"date-time":"2024-02-01T06:30:03Z","timestamp":1706769003000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/9830862\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,10]]},"references-count":52,"journal-issue":{"issue":"4"},"URL":"https:\/\/doi.org\/10.1109\/lra.2022.3191204","relation":{},"ISSN":["2377-3766","2377-3774"],"issn-type":[{"value":"2377-3766","type":"electronic"},{"value":"2377-3774","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,10]]}}}