@article{Agha22fr-Nebula,
title={{NeBula}: {TEAM CoSTAR’s} Robotic Autonomy Solution that Won {Phase II of DARPA Subterranean Challenge}},
author={{A. Agha et al.}},
fullauthor={Agha, A., Otsu, K., Morrell, B., Fan, D., Thakker, R., Santamaria-Navarro, A., Kim, S., Bouman, A., Lei, X., Edlund, J., Ginting, M., Ebadi, K., Anderson, M., Pailevanian, T., Terry, E., Wolf, M., Tagliabue, A., Vaquero, T., Palieri, M., Tepsuporn, S., Chang, Y., Kalantari, A., Chavez, F., Lopez, B., Funabiki, N., Miles, G., Touma, T., Buscicchio, A., Tordesillas, J., Alatur, N., Nash, J., Walsh, W., Jung, S., Lee, H., Kanellakis, C., Mayo, J., Harper, S., Kaufmann, M., Dixit, A., Correa, G., Lee, C., Gao, J., Merewether, G., Maldonado-Contreras, J., Salhotra, G., Saboia Da Silva, M., Ramtoula, B., Fakoorian, S., Hatteland, A., Kim, T., Bartlett, T., Stephens, A., Kim, L., Bergh, C., Heiden, E., Lew, T., Cauligi, A., Heywood, T., Kramer, A., Leopold, H., Melikyan, H., Choi, H., Daftry, S., Toupet, O., Wee, I., Thakur, A., Feras, M., Beltrame, G., Nikolakopoulos, G., Shim, D., Carlone, L., & Burdick, J.},
journal={Field Robotics},
volume = 2,
pages = {1432--1506},
nonote = {\linkToPdf{https://fieldrobotics.net/Field_Robotics/Volume_2_files/Vol2_47.pdf}},
pdf={https://fieldrobotics.net/Field_Robotics/Volume_2_files/Vol2_47.pdf},
year={2022},
}