Benjamin Morrell

Jet Propulsion Laboratory — United States

Engineering · Physical Sciences

16h-index1.2kcitations90works6.82yr avg
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Research Topics

Robotics and Sensor-Based Localization(30), Robotic Path Planning Algorithms(19), Modular Robots and Swarm Intelligence(9), Planetary Science and Exploration(8), Robotics and Automated Systems(7)

Publications90 total

Performance Trust in High-Stakes Heterogeneous Human-Machine Teams: Insights from Interviews with Team CoSTAR and Mars 2020
2025
Robotic Journaling: Translating Raw Robot Logs into Structured Narratives to Model Trust in Heterogeneous Human-Machine Teams
AHFE international·2025
Robotic exploration of Martian caves: Evaluating operational concepts through analog experiments in lava tubes
Acta Astronautica·2024· 12 cited
Multi-Agent Autonomy for Space Exploration on the CADRE Lunar Technology Demonstration
2024· 16 cited
An Addendum to NeBula: Toward Extending Team CoSTAR’s Solution to Larger Scale Environments
IEEE transactions on field robotics.·2024· 6 citedOpen Access
Simultaneous localization and mapping architecture for small bodies and space exploration
Advances in Space Research·2023· 2 citedOpen Access
Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge
IEEE Transactions on Robotics·2023· 153 cited
Swarm Manager: Sdn-Inspired Computation Offloading Management in Heterogeneous Multi-Robot Networks
SSRN Electronic Journal·2023Open Access
Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)·2022· 7 cited
Present and Future of SLAM in Extreme Underground Environments
arXiv (Cornell University)·2022· 38 citedOpen Access
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
IEEE Robotics and Automation Letters·2022· 31 cited
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
IEEE Robotics and Automation Letters·2022· 154 cited
NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge
Field Robotics·2022· 49 citedOpen Access
Exploring Event Camera-Based Odometry for Planetary Robots
IEEE Robotics and Automation Letters·2022· 66 citedOpen Access
LOCUS 2.0: Robust and Computationally Efficient Lidar Odometry for Real-Time 3D Mapping
IEEE Robotics and Automation Letters·2022· 91 citedOpen Access
LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-Scale Underground Environments
arXiv (Cornell University)·2022· 2 citedOpen Access
Loop Closure Prioritization for Efficient and Scalable Multi-Robot SLAM
arXiv (Cornell University)·2022· 2 citedOpen Access
Exploring Event Camera-based Odometry for Planetary Robots
arXiv (Cornell University)·2022· 3 citedOpen Access
Towards Resilient Autonomous Navigation of Drones
Springer proceedings in advanced robotics·2022· 26 citedOpen Access
Autonomous Exploration of Small Bodies Toward Greater Autonomy for Deep Space Missions
Frontiers in Robotics and AI·2021· 25 citedOpen Access
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Frequent Co-authors

Ali‐akbar Agha‐mohammadi(17), Kamak Ebadi(15), Luca Carlone(15), Matteo Palieri(14), Yun Chang(9), Gregory Chamitoff(9), Nobuhiro Funabiki(8), Andrzej Reinke(8), Jeremy Nash(8), Abhishek Thakur(7), Christopher E. Denniston(7), Eric Heiden(6), Muhammad Fadhil Ginting(6), Ali Agha(6), Àngel Santamaria‐Navarro(6), Maíra Saboia da Silva(6), Kyohei Otsu(5), Rohan Thakker(5), Edward D. Terry(5), Andrea Tagliabue(5)