@ARTICLE{10643435,
  author={Morrell, Benjamin and Otsu, Kyohei and Agha, Ali and Fan, David D. and Kim, Sung-Kyun and Ginting, Muhammad Fadhil and Lei, Xianmei and Edlund, Jeffrey and Fakoorian, Seyed and Bouman, Amanda and Chavez, Fernando and Kim, Taeyeon and Correa, Gustavo J. and Saboia, Maira and Santamaria-Navarro, Angel and Lopez, Brett and Kim, Boseong and Jung, Chanyoung and Sobue, Mamoru and Peltzer, Oriana Claudia and Ott, Joshua and Trybula, Robert and Touma, Thomas and Kaufmann, Marcel and Vaquero, Tiago Stegun and Pailevanian, Torkom and Palieri, Matteo and Chang, Yun and Reinke, Andrzej and Anderson, Matthew and Schöller, Frederik E. T. and Spieler, Patrick and Clark, Lillian M. and Archanian, Avak and Chen, Kenny and Melikyan, Hovhannes and Dixit, Anushri and Delecki, Harrison and Pastor, Daniel and Ridge, Barry and Marchal, Nicolas and Uribe, Jose and Dey, Sharmita and Ebadi, Kamak and Coble, Kyle and Dimopoulos, Alexander Nikitas and Thangavelu, Vivek and Varadharajan, Vivek S. and Palomo, Nicholas and Rosinol, Antoni and Chatterjee, Arghya and Kanellakis, Christoforos and Lindqvist, Bjorn and Corah, Micah and Strickland, Kyle and Stonebraker, Ryan and Milano, Michael and Denniston, Christopher E. and Sahnoune, Sami and Claudet, Thomas and Lee, Seungwook and Salhotra, Gautam and Terry, Edward and Musuku, Rithvik and Schmid, Robin and Tran, Tony and Kourchians, Ara and Schachter, Justin and Azpurua, Hector and Resende, Levi and Kalantari, Arash and Nash, Jeremy and Lee, Josh and Patterson, Christopher and Blank, Jennifer G. and Patath, Kartik and Kubo, Yuki and Alimo, Ryan and Almalioglu, Yasin and Curtis, Aaron and Sly, Jacqueline and Wells, Tesla and Ho, Nhut T. and Kochenderfer, Mykel and Beltrame, Giovanni and Nikolakopoulos, George and Shim, David and Carlone, Luca and Burdick, And Joel},
  journal={IEEE Transactions on Field Robotics}, 
  title={An Addendum to NeBula: Toward Extending Team CoSTAR’s Solution to Larger Scale Environments}, 
  year={2024},
  volume={1},
  number={},
  pages={476-526},
  keywords={Planning;State estimation;Semantics;NASA;Hardware;Three-dimensional displays;Systems architecture;Aerial autonomy;communication-aware mission planning;exploration planning;geometric and semantic mapping;multirobot systems;probabilistic traversability analysis},
  doi={10.1109/TFR.2024.3430891}}