@article{costar_jfr22,
  author    = {Ali Agha and
               Kyohei Otsu and
               Benjamin Morrell and
               David D. Fan and
               Rohan Thakker and
               Angel Santamaria{-}Navarro and
               Sung{-}Kyun Kim and
               Amanda Bouman and
               Xianmei Lei and
               Jeffrey A. Edlund and
               Muhammad Fadhil Ginting and
               Kamak Ebadi and
               Matthew Anderson and
               Torkom Pailevanian and
               Edward Terry and
               Michael T. Wolf and
               Andrea Tagliabue and
               Tiago Stegun Vaquero and
               Matteo Palieri and
               Scott Tepsuporn and
               Yun Chang and
               Arash Kalantari and
               Fernando Chavez and
               Brett Thomas Lopez and
               Nobuhiro Funabiki and
               Gregory Miles and
               Thomas Touma and
               Alessandro Buscicchio and
               Jesus Tordesillas and
               Nikhilesh Alatur and
               Jeremy Nash and
               William Walsh and
               Sunggoo Jung and
               Hanseob Lee and
               Christoforos Kanellakis and
               John Mayo and
               Scott Harper and
               Marcel Kaufmann and
               Anushri Dixit and
               Gustavo Correa and
               Carlyn Lee and
               Jay Gao and
               Gene Merewether and
               Jairo Maldonado{-}Contreras and
               Gautam Salhotra and
               Ma{\'{\i}}ra Saboia da Silva and
               Benjamin Ramtoula and
               Yuki Kubo and
               Seyed Abolfazl Fakoorian and
               Alexander Hatteland and
               Taeyeon Kim and
               Tara Bartlett and
               Alex Stephens and
               Leon Kim and
               Chuck Bergh and
               Eric Heiden and
               Thomas Lew and
               Abhishek Cauligi and
               Tristan Heywood and
               Andrew Kramer and
               Henry A. Leopold and
               Hyungho Chris Choi and
               Shreyansh Daftry and
               Olivier Toupet and
               Inhwan Wee and
               Abhishek Thakur and
               Micah Feras and
               Giovanni Beltrame and
               George Nikolakopoulos and
               David Hyunchul Shim and
               Luca Carlone and
               Joel Burdick},
  title     = {NeBula: Quest for Robotic Autonomy in Challenging Environments; {TEAM}
               CoSTAR at the {DARPA} Subterranean Challenge},
  journal   = {Journal of Field Robotics},
  volume    = {2},
  number    = {47},
  pages     = {1432-1506},
  year      = {2022},
  url       = {https://arxiv.org/abs/2103.11470},
  archivePrefix = {arXiv},
  eprint    = {2103.11470}
}