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Benjamin Morrell
Researcher at California Institute of Technology
Publications - 37
Citations - 534
Benjamin Morrell is an academic researcher from California Institute of Technology. The author has contributed to research in topics: Computer science & Odometry. The author has an hindex of 8, co-authored 29 publications receiving 195 citations. Previous affiliations of Benjamin Morrell include University of Sydney.
Papers
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Proceedings ArticleDOI
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 +11 more
TL;DR: This paper presents a system architecture to enhance subterranean operation, including an accurate lidar-based front-end, and a flexible and robust back-end that automatically rejects outlying loop closures, and discusses potential improvements, limitations of the state of the art, and future research directions.
Journal ArticleDOI
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 +9 more
TL;DR: This work presents a high-precision lidar odometry system to achieve robust and real-time operation under challenging perceptual conditions, and provides an accurate multi-stage scan matching unit equipped with an health-aware sensor integration module for seamless fusion of additional sensing modalities.
Posted Content
Towards Resilient Autonomous Navigation of Drones.
Angel Santamaria-Navarro,Rohan Thakker,David D. Fan,Benjamin Morrell,Ali-akbar Agha-mohammadi +4 more
TL;DR: HeRO (Heterogeneous Redundant Odometry): a stack of estimation algorithms running in parallel supervised by a resiliency logic that pursues robustness in state estimation by considering redundancy and heterogeneity in both sensing and estimation algorithms.
Proceedings ArticleDOI
Differential Flatness Transformations for Aggressive Quadrotor Flight
Benjamin Morrell,Marc Rigter,Gene Merewether,Robert G. Reid,Rohan Thakker,Theodore Tzanetos,Vinay Rajur,Gregory Chamitoff +7 more
TL;DR: The method is demonstrated enabling highly-aggressive quadrotor flight in both simulations and real-world experiments, which combines multiple methods to provide a highly-robust differential flatness transformation that addresses most of these issues.
Journal ArticleDOI
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
Yun Chang,Kamak Ebadi,Christine Denniston,Muhammad Fadhil Ginting,Antoni Rosinol,Andrzej Reinke,Matteo Palieri,Jingnan Shi,Arghya Chatterjee,Benjamin Morrell,Ali-akbar Agha-mohammadi,Luca Carlone +11 more
TL;DR: This letter reports on a multi-robot SLAM system developed by team CoSTAR in the context of the DARPA Subterranean Challenge, and extends the previous work, LAMP, by incorporating a single-ro Bot front-end interface that is adaptable to different odometry sources and lidar configurations.