@ARTICLE{tabib2021tro,
  author={Tabib, Wennie and Goel, Kshitij and Yao, John and Boirum, Curtis and Michael, Nathan},
  journal={IEEE Transactions on Robotics},
  title={Autonomous Cave Surveying With an Aerial Robot},
  year={2021},
  volume={},
  number={},
  pages={1-17},
  doi={10.1109/TRO.2021.3104459}
}