@misc{tagliabue2021lion,
      title={LION: Lidar-Inertial Observability-Aware Navigator for Vision-Denied Environments}, 
      author={Andrea Tagliabue and Jesus Tordesillas and Xiaoyi Cai and Angel Santamaria-Navarro and Jonathan P. How and Luca Carlone and Ali-akbar Agha-mohammadi},
      year={2021},
      eprint={2102.03443},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}