Alex Stephens

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the…

Simultaneous Localization and Mapping (SLAM) in large-scale, unknown, and complex subterranean environments is a challenging problem. Sensors must operate in off-nominal conditions; uneven and slippery terrains make wheel odometry…

The processes taking place in the outermost reaches of spiral disks (the 'proto-disk') are intimately connected to the build-up of mass and angular momentum in galaxies. The thinness of spiral disks suggests that the activity is mostly…

We have determined Li abundances in 55 metal-poor (3.6 < [Fe/H] < -0.7) stars with extreme orbital kinematics. We find the Li abundance in the Li-plateau stars and examine its decrease in low-temperature, low-mass stars. The Li observations…

Lithium abundances have been determined in more than 100 metal-poor halo stars both in the field and in clusters. From these data we find trends of Li with both temperature and metallicity and a real dispersion in Li abundances in the Spite…

We have made observations with the Keck I telescope and HIRES at a resolution of $\sim$45,000 of five nearly identical stars at the turn-off of the metal-rich globular cluster M 71. Our mean Fe abundance, [Fe/H]=-0.80 +-0.02, is in…