{"id":"https://openalex.org/W4284889893","doi":"https://doi.org/10.55417/fr.2022047","title":"NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge","display_name":"NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge","publication_year":2022,"publication_date":"2022-07-01","ids":{"openalex":"https://openalex.org/W4284889893","doi":"https://doi.org/10.55417/fr.2022047"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2022047","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022047","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2022047","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5110480055","display_name":"Ali Agha","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ali Agha","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0001-5509-1841","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5057288593","display_name":"Kyohei Otsu","orcid":"https://orcid.org/0000-0002-9363-8817"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kyohei Otsu","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-9363-8817","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058359768","display_name":"Benjamin Morrell","orcid":"https://orcid.org/0000-0002-9768-3615"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Morrell","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-9768-3615","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":null,"display_name":"David D. Fan","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David D. Fan","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001971318","display_name":"Rohan Thakker","orcid":"https://orcid.org/0000-0002-2672-2103"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Rohan Thakker","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-2672-2103","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002079674","display_name":"\u00c0ngel Santamaria\u2010Navarro","orcid":"https://orcid.org/0000-0002-6328-1423"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Angel Santamaria-Navarro","raw_affiliation_strings":["Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial, CSIC-UPC"],"raw_orcid":"https://orcid.org/0000-0002-6328-1423","affiliations":[{"raw_affiliation_string":"Institut de Rob&#x00F2;tica i Inform&#x00E0;tica Industrial, CSIC-UPC","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019692184","display_name":"Sung-Kyun Kim","orcid":"https://orcid.org/0000-0003-2460-1153"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sung-Kyun Kim","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-2460-1153","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051754642","display_name":"Amanda Bouman","orcid":"https://orcid.org/0000-0002-4215-2913"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Amanda Bouman","raw_affiliation_strings":["California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-4215-2913","affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5052043763","display_name":"Xianmei Lei","orcid":"https://orcid.org/0000-0003-4971-6977"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Xianmei Lei","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-4971-6977","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033736433","display_name":"Jeffrey A. Edlund","orcid":"https://orcid.org/0000-0003-3092-4493"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeffrey Edlund","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-3092-4493","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065759000","display_name":"Muhammad Fadhil Ginting","orcid":"https://orcid.org/0000-0003-4030-5151"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Muhammad Fadhil Ginting","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-4030-5151","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024992136","display_name":"Kamak Ebadi","orcid":"https://orcid.org/0000-0002-4094-7077"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kamak Ebadi","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-4094-7077","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018765638","display_name":"Matthew Anderson","orcid":"https://orcid.org/0000-0001-8884-3448"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew Anderson","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0001-8884-3448","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033305763","display_name":"Torkom Pailevanian","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Torkom Pailevanian","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043361249","display_name":"Edward D. Terry","orcid":"https://orcid.org/0000-0002-7495-0506"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Edward Terry","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-7495-0506","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068056426","display_name":"Michael Wolf","orcid":"https://orcid.org/0000-0003-4534-0036"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Michael Wolf","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-4534-0036","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102712548","display_name":"Andrea Tagliabue","orcid":"https://orcid.org/0000-0003-3376-4114"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Andrea Tagliabue","raw_affiliation_strings":["Massachusetts Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-3376-4114","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008590481","display_name":"Tiago Vaquero","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tiago Stegun Vaquero","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-4681-4363","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043798706","display_name":"Matteo Palieri","orcid":"https://orcid.org/0000-0001-8218-3346"},"institutions":[{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Palieri","raw_affiliation_strings":["Polytechnic University of Bari"],"raw_orcid":"https://orcid.org/0000-0001-8218-3346","affiliations":[{"raw_affiliation_string":"Polytechnic University of Bari","institution_ids":["https://openalex.org/I68618741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078718603","display_name":"Scott Tepsuporn","orcid":"https://orcid.org/0000-0003-2028-9377"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott Tepsuporn","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-2028-9377","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082750695","display_name":"Yun Chang","orcid":"https://orcid.org/0000-0002-2829-5256"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yun Chang","raw_affiliation_strings":["Massachusetts Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-2829-5256","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011156762","display_name":"Arash Kalantari","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Arash Kalantari","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-2184-8548","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103544689","display_name":"Fernando Ch\u00e1vez","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fernando Chavez","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079219281","display_name":"Brett T. Lopez","orcid":"https://orcid.org/0000-0001-5366-911X"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Brett Lopez","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0001-5366-911X","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022141264","display_name":"Nobuhiro Funabiki","orcid":"https://orcid.org/0000-0002-4713-9689"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nobuhiro Funabiki","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-4713-9689","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075123515","display_name":"Gregory Miles","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gregory Miles","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072680381","display_name":"Thomas Touma","orcid":"https://orcid.org/0000-0002-4921-2210"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Touma","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-4921-2210","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045376300","display_name":"Alessandro Buscicchio","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]},{"id":"https://openalex.org/I68618741","display_name":"Polytechnic University of Bari","ror":"https://ror.org/03c44v465","country_code":"IT","type":"education","lineage":["https://openalex.org/I68618741"]}],"countries":["IT","US"],"is_corresponding":false,"raw_author_name":"Alessandro Buscicchio","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology; Polytechnic University of Bari"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology; Polytechnic University of Bari","institution_ids":["https://openalex.org/I1334627681","https://openalex.org/I68618741"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036406890","display_name":"Jesus Tordesillas","orcid":"https://orcid.org/0000-0001-6848-4070"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jesus Tordesillas","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0001-6848-4070","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067744937","display_name":"Nikhilesh Alatur","orcid":"https://orcid.org/0000-0003-4783-788X"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Nikhilesh Alatur","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-4783-788X","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011244262","display_name":"Jeremy Nash","orcid":"https://orcid.org/0000-0002-1854-8504"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jeremy Nash","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-1854-8504","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021644216","display_name":"William R. Walsh","orcid":"https://orcid.org/0000-0002-5023-6148"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"William Walsh","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059102676","display_name":"Sunggoo Jung","orcid":"https://orcid.org/0000-0001-7672-6885"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sunggoo Jung","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0001-7672-6885","affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062419191","display_name":"Hanseob Lee","orcid":"https://orcid.org/0000-0003-4186-9418"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hanseob Lee","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0003-4186-9418","affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039277979","display_name":"Christoforos Kanellakis","orcid":"https://orcid.org/0000-0001-8870-6718"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Christoforos Kanellakis","raw_affiliation_strings":["Lule&#x00E5; University of Technology"],"raw_orcid":"https://orcid.org/0000-0001-8870-6718","affiliations":[{"raw_affiliation_string":"Lule&#x00E5; University of Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002943284","display_name":"John Mayo","orcid":"https://orcid.org/0000-0002-7175-6599"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"John Mayo","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-7175-6599","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019485672","display_name":"Scott Harper","orcid":"https://orcid.org/0000-0002-1232-0621"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Scott Harper","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-1232-0621","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103937428","display_name":"Marcel Kaufmann","orcid":"https://orcid.org/0000-0001-5132-592X"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Marcel Kaufmann","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0001-5132-592X","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015731909","display_name":"Anushri Dixit","orcid":"https://orcid.org/0000-0002-9698-2189"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anushri Dixit","raw_affiliation_strings":["California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-9698-2189","affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000941772","display_name":"Gustavo J. Correa","orcid":"https://orcid.org/0000-0003-4112-9495"},"institutions":[{"id":"https://openalex.org/I103635307","display_name":"University of California, Riverside","ror":"https://ror.org/03nawhv43","country_code":"US","type":"education","lineage":["https://openalex.org/I103635307"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gustavo J. Correa","raw_affiliation_strings":["University of California, Riverside"],"raw_orcid":"https://orcid.org/0000-0003-4112-9495","affiliations":[{"raw_affiliation_string":"University of California, Riverside","institution_ids":["https://openalex.org/I103635307"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110927711","display_name":"Carlyn Lee","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Carlyn Lee","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0001-6206-071X","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010534841","display_name":"Jay Gao","orcid":"https://orcid.org/0000-0002-0713-7865"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jay Gao","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-0713-7865","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069096831","display_name":"Gene Merewether","orcid":"https://orcid.org/0000-0003-3046-9400"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gene Merewether","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-3046-9400","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089407073","display_name":"Jairo Maldonado-Contreras","orcid":"https://orcid.org/0000-0003-0831-7355"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jairo Maldonado-Contreras","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026297088","display_name":"Gautam Salhotra","orcid":"https://orcid.org/0000-0003-2201-9303"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I2802236040","display_name":"University of Colorado System","ror":"https://ror.org/00jc20583","country_code":"US","type":"education","lineage":["https://openalex.org/I2802236040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Gautam Salhotra","raw_affiliation_strings":["University of Colorado Boulder"],"raw_orcid":"https://orcid.org/0000-0003-2201-9303","affiliations":[{"raw_affiliation_string":"University of Colorado Boulder","institution_ids":["https://openalex.org/I2802236040","https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050819232","display_name":"Ma\u00edra Saboia da Silva","orcid":"https://orcid.org/0000-0002-6277-1703"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Maira Saboia Da Silva","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-6277-1703","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054442222","display_name":"Benjamin Ramtoula","orcid":"https://orcid.org/0000-0002-9185-7995"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Ramtoula","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-9185-7995","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102758442","display_name":"Seyed Fakoorian","orcid":"https://orcid.org/0000-0001-8572-5382"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Seyed Fakoorian","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011010412","display_name":"Alexander Hatteland","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alexander Hatteland","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5115444863","display_name":"Taeyeon Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Taeyeon Kim","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-3139-1799","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076863776","display_name":"Tara Bartlett","orcid":"https://orcid.org/0000-0002-4336-6219"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tara Bartlett","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-4336-6219","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101507667","display_name":"A. S. Stephens","orcid":"https://orcid.org/0000-0001-6209-0548"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Stephens","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0001-6209-0548","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5049816733","display_name":"Leon Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Leon Kim","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040618868","display_name":"Chuck Bergh","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Chuck Bergh","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073253090","display_name":"Eric Heiden","orcid":"https://orcid.org/0000-0002-2031-8564"},"institutions":[{"id":"https://openalex.org/I188538660","display_name":"University of Colorado Boulder","ror":"https://ror.org/02ttsq026","country_code":"US","type":"education","lineage":["https://openalex.org/I188538660"]},{"id":"https://openalex.org/I2802236040","display_name":"University of Colorado System","ror":"https://ror.org/00jc20583","country_code":"US","type":"education","lineage":["https://openalex.org/I2802236040"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Eric Heiden","raw_affiliation_strings":["University of Colorado Boulder"],"raw_orcid":"https://orcid.org/0000-0002-2031-8564","affiliations":[{"raw_affiliation_string":"University of Colorado Boulder","institution_ids":["https://openalex.org/I2802236040","https://openalex.org/I188538660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085222818","display_name":"Thomas Lew","orcid":"https://orcid.org/0000-0002-8209-3604"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Thomas Lew","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-8209-3604","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053411890","display_name":"Abhishek Cauligi","orcid":"https://orcid.org/0000-0003-1262-0859"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abhishek Cauligi","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-1262-0859","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009973484","display_name":"Tristan Heywood","orcid":"https://orcid.org/0000-0002-9047-2292"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Tristan Heywood","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-9047-2292","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037770877","display_name":"Andrew M. Kramer","orcid":"https://orcid.org/0000-0002-9031-6580"},"institutions":[{"id":"https://openalex.org/I142476485","display_name":"\u00c9cole Polytechnique","ror":"https://ror.org/05hy3tk52","country_code":"FR","type":"education","lineage":["https://openalex.org/I142476485","https://openalex.org/I4210145102"]},{"id":"https://openalex.org/I45683168","display_name":"Polytechnique Montr\u00e9al","ror":"https://ror.org/05f8d4e86","country_code":"CA","type":"education","lineage":["https://openalex.org/I45683168"]}],"countries":["CA","FR"],"is_corresponding":false,"raw_author_name":"Andrew Kramer","raw_affiliation_strings":["Ecole Polytechnique de Montr&#x00E9;al"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique de Montr&#x00E9;al","institution_ids":["https://openalex.org/I142476485","https://openalex.org/I45683168"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017125876","display_name":"Henry A. Leopold","orcid":"https://orcid.org/0000-0002-2685-5635"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Henry A. Leopold","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-2685-5635","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086969485","display_name":"Hov Melikyan","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Hov Melikyan","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024480065","display_name":"Hyungho Chris Choi","orcid":"https://orcid.org/0000-0002-4758-2007"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hyungho Chris Choi","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0002-4758-2007","affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078247828","display_name":"Shreyansh Daftry","orcid":"https://orcid.org/0000-0002-0157-5944"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shreyansh Daftry","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-0157-5944","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091736785","display_name":"Olivier Toupet","orcid":"https://orcid.org/0000-0003-4993-7390"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Olivier Toupet","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-4993-7390","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5074986218","display_name":"Inhwan Wee","orcid":"https://orcid.org/0000-0001-5294-1150"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Inhwan Wee","raw_affiliation_strings":[],"raw_orcid":"https://orcid.org/0000-0001-5294-1150","affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107980345","display_name":"Abhishek Thakur","orcid":"https://orcid.org/0000-0003-4149-1312"},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abhishek Thakur","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-4149-1312","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5112853559","display_name":"Micah Feras","orcid":null},"institutions":[{"id":"https://openalex.org/I1334627681","display_name":"Jet Propulsion Laboratory","ror":"https://ror.org/027k65916","country_code":"US","type":"facility","lineage":["https://openalex.org/I122411786","https://openalex.org/I1334627681","https://openalex.org/I4210124779"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Micah Feras","raw_affiliation_strings":["NASA Jet Propulsion Laboratory, California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-9324-7875","affiliations":[{"raw_affiliation_string":"NASA Jet Propulsion Laboratory, California Institute of Technology","institution_ids":["https://openalex.org/I1334627681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021953451","display_name":"Giovanni Beltrame","orcid":"https://orcid.org/0000-0001-9755-8630"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Giovanni Beltrame","raw_affiliation_strings":["Korea Advanced Institute of Science and Technology"],"raw_orcid":"https://orcid.org/0000-0001-9755-8630","affiliations":[{"raw_affiliation_string":"Korea Advanced Institute of Science and Technology","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064878830","display_name":"George Nikolakopoulos","orcid":"https://orcid.org/0000-0003-0126-1897"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"George Nikolakopoulos","raw_affiliation_strings":["Lule&#x00E5; University of Technology"],"raw_orcid":"https://orcid.org/0000-0003-0126-1897","affiliations":[{"raw_affiliation_string":"Lule&#x00E5; University of Technology","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053591461","display_name":"David Hyunchul Shim","orcid":"https://orcid.org/0000-0002-1929-7022"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"David Shim","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Massachusetts Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0003-1884-5397","affiliations":[{"raw_affiliation_string":"Massachusetts Institute of Technology","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002930599","display_name":"Joel W. Burdick","orcid":"https://orcid.org/0000-0002-3091-540X"},"institutions":[{"id":"https://openalex.org/I122411786","display_name":"California Institute of Technology","ror":"https://ror.org/05dxps055","country_code":"US","type":"education","lineage":["https://openalex.org/I122411786"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Joel Burdick","raw_affiliation_strings":["California Institute of Technology"],"raw_orcid":"https://orcid.org/0000-0002-3091-540X","affiliations":[{"raw_affiliation_string":"California Institute of Technology","institution_ids":["https://openalex.org/I122411786"]}]}],"institutions":[],"countries_distinct_count":5,"institutions_distinct_count":72,"corresponding_author_ids":["https://openalex.org/A5110480055"],"corresponding_institution_ids":["https://openalex.org/I1334627681"],"apc_list":null,"apc_paid":null,"fwci":5.8245,"has_fulltext":false,"cited_by_count":49,"citation_normalized_percentile":{"value":0.96872243,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"2","issue":null,"first_page":"1432","last_page":"1506"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10215","display_name":"Semantic Web and Ontologies","score":0.9498000144958496,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5640363097190857},{"id":"https://openalex.org/keywords/autonomy","display_name":"Autonomy","score":0.5186171531677246},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.483423113822937},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4819366931915283},{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.41322648525238037},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.35412198305130005},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24360308051109314}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5640363097190857},{"id":"https://openalex.org/C65414064","wikidata":"https://www.wikidata.org/wiki/Q484105","display_name":"Autonomy","level":2,"score":0.5186171531677246},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.483423113822937},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4819366931915283},{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.41322648525238037},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.35412198305130005},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24360308051109314},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.55417/fr.2022047","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022047","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},{"id":"pmh:oai:digital.csic.es:10261/305048","is_oa":true,"landing_page_url":"http://hdl.handle.net/10261/305048","pdf_url":null,"source":{"id":"https://openalex.org/S4306400616","display_name":"DIGITAL.CSIC (Spanish National Research Council (CSIC))","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I134820265","host_organization_name":"Consejo Superior de Investigaciones Cient\u00edficas","host_organization_lineage":["https://openalex.org/I134820265"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/publishedVersion"},{"id":"pmh:oai:publications.polymtl.ca:55800","is_oa":false,"landing_page_url":"https://publications.polymtl.ca/55800/","pdf_url":null,"source":{"id":"https://openalex.org/S4306401013","display_name":"PolyPublie (\u00c9cole Polytechnique de Montr\u00e9al)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45683168","host_organization_name":"Polytechnique Montr\u00e9al","host_organization_lineage":["https://openalex.org/I45683168"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article de revue"},{"id":"pmh:oai:upcommons.upc.edu:2117/382082","is_oa":true,"landing_page_url":"http://hdl.handle.net/2117/382082","pdf_url":null,"source":{"id":"https://openalex.org/S4377196262","display_name":"UPCommons institutional repository (Universitat Polit\u00e8cnica de Catalunya)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I9617848","host_organization_name":"Universitat Polit\u00e8cnica de Catalunya","host_organization_lineage":["https://openalex.org/I9617848"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"}],"best_oa_location":{"id":"doi:10.55417/fr.2022047","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022047","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities","score":0.49000000953674316}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2378076731","https://openalex.org/W4286888643","https://openalex.org/W3210795196","https://openalex.org/W2088988140","https://openalex.org/W2803103875","https://openalex.org/W604327652","https://openalex.org/W2169648251","https://openalex.org/W2951529875","https://openalex.org/W2948947745","https://openalex.org/W1985973698"],"abstract_inverted_index":{"This":[0],"paper":[1,61],"presents":[2,27],"and":[3,7,35,43,55,84,91,105,119,131,138,147,150,176],"discusses":[4],"algorithms,":[5],"hardware,":[6],"software":[8],"architecture":[9],"developed":[10],"by":[11,88],"the":[12,21,28,32,95,103,113,156,173,184,188],"TEAM":[13],"CoSTAR":[14,40],"(Collaborative":[15],"SubTerranean":[16],"Autonomous":[17],"Robots),":[18],"competing":[19],"in":[20,52,94,168,183],"DARPA":[22,189],"Subterranean":[23,190],"Challenge.":[24],"Specifically,":[25],"it":[26],"techniques":[29],"utilized":[30],"within":[31],"Tunnel":[33],"(2019)":[34],"Urban":[36],"(2020)":[37],"competitions,":[38],"where":[39],"achieved":[41],"second":[42],"first":[44],"place,":[45],"respectively.":[46],"We":[47,108,154,171],"also":[48],"discuss":[49,109,155,172],"CoSTAR\u00bfs":[50],"demonstrations":[51],"Martian-analog":[53],"surface":[54],"subsurface":[56],"(lava":[57],"tubes)":[58],"exploration.":[59],"The":[60],"introduces":[62],"our":[63],"autonomy":[64,86],"solution,":[65],"referred":[66],"to":[67],"as":[68],"NeBula":[69,74,114,159],"(Networked":[70],"Belief-aware":[71],"Perceptual":[72],"Autonomy).":[73],"is":[75],"an":[76],"uncertainty-aware":[77],"framework":[78],"that":[79],"aims":[80],"at":[81],"enabling":[82],"resilient":[83],"modular":[85],"solutions":[87],"performing":[89],"reasoning":[90],"decision":[92],"making":[93],"belief":[96],"space":[97],"(space":[98],"of":[99,112,158,187],"probability":[100],"distributions":[101],"over":[102],"robot":[104,162],"world":[106],"states).":[107],"various":[110,169],"components":[111],"framework,":[115],"including":[116],"(i)":[117],"geometric":[118],"semantic":[120],"environment":[121],"mapping,":[122],"(ii)":[123],"a":[124],"multi-modal":[125],"positioning":[126],"system,":[127],"(iii)":[128],"traversability":[129],"analysis":[130],"local":[132],"planning,":[133,144],"(iv)":[134],"global":[135],"motion":[136],"planning":[137],"exploration":[139],"behavior,":[140],"(v)":[141],"risk-aware":[142],"mission":[143],"(vi)":[145],"networking":[146],"decentralized":[148],"reasoning,":[149],"(vii)":[151],"learning-enabled":[152],"adaptation.":[153],"performance":[157],"on":[160],"several":[161],"types":[163],"(e.g.,":[164],"wheeled,":[165],"legged,":[166],"flying),":[167],"environments.":[170],"specific":[174],"results":[175],"lessons":[177],"learned":[178],"from":[179],"fielding":[180],"this":[181],"solution":[182],"challenging":[185],"courses":[186],"Challenge":[191],"competition.":[192]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":14},{"year":2024,"cited_by_count":16},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":5}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}
