A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time operation under challenging perceptual conditions. LOCUS (Lidar Odometry for Consistent operation in Uncertain Settings), provides an accurate multi-stage scan matching unit equipped with an health-aware sensor integration module for seamless fusion of additional sensing modalities. We evaluate the performance of the proposed system against state-of-the-art techniques in perceptually challenging environments, and demonstrate top-class localization accuracy along with substantial improvements in robustness to sensor failures. We then demonstrate real-time performance of LOCUS on various types of robotic mobility platforms involved in the autonomous exploration of the Satsop power plant in Elma, WA where the proposed system was a key element of the CoSTAR team's solution that won first place in the Urban Circuit of the DARPA Subterranean Challenge.

The TOTEM experiment has made a precise measurement of the elastic proton–proton differential cross-section at the centre-of-mass energy s=8 TeV based on a high-statistics data sample obtained with the β⁎=90 m optics. Both the statistical and systematic uncertainties remain below 1%, except for the t-independent contribution from the overall normalisation. This unprecedented precision allows to exclude a purely exponential differential cross-section in the range of four-momentum transfer squared 0.027<|t|<0.2 GeV2 with a significance greater than 7 σ. Two extended parametrisations, with quadratic and cubic polynomials in the exponent, are shown to be well compatible with the data. Using them for the differential cross-section extrapolation to t=0, and further applying the optical theorem, yields total cross-section estimates of (101.5±2.1) mb and (101.9±2.1) mb, respectively, in agreement with previous TOTEM measurements

The TOTEM experiment at the CERN LHC has measured elastic proton–proton scattering at the centre-of-mass energy $$\sqrt{s}=8\,$$ TeV and four-momentu