CERBERUS in the DARPA Subterranean Challenge-Reference-Cited by-同舟云学术

CERBERUS in the DARPA Subterranean Challenge

Published:2022-05-25 Issue:66 Volume:7 Page:
ISSN:2470-9476
Container-title:Science Robotics
language:en
Short-container-title:Sci. Robot.

Author:

Tranzatto Marco¹^ORCID,Miki Takahiro¹^ORCID,Dharmadhikari Mihir²^ORCID,Bernreiter Lukas³^ORCID,Kulkarni Mihir²^ORCID,Mascarich Frank⁴^ORCID,Andersson Olov³^ORCID,Khattak Shehryar¹^ORCID,Hutter Marco¹^ORCID,Siegwart Roland³^ORCID,Alexis Kostas²^ORCID

Affiliation:

1. Robotic Systems Lab, ETH Zurich, Zurich, Switzerland.

2. Autonomous Robots Lab, Norwegian University of Science and Technology, Trondheim, Norway.

3. Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland.

4. Autonomous Robots Lab, University of Nevada, Reno, NV, USA.

Abstract

This article presents the core technologies and deployment strategies of Team CERBERUS that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a robotic system-of-systems involving walking and flying robots presenting resilient autonomy, as well as mapping and navigation capabilities to explore complex underground environments.

Publisher

American Association for the Advancement of Science (AAAS)

Subject

Artificial Intelligence,Control and Optimization,Computer Science Applications,Mechanical Engineering

Reference15 articles.

1. D. Montgomery The Pentagon’s $82 Million Super Bowl of Robots The Washington Post Magazine (2021); www.washingtonpost.com/magazine/2021/11/10/darpa-robot-competition/.

2. Team CERBERUS Team CERBERUS wins the DARPA Subterranean Challenge! (2022);www.subt-cerberus.org/.

3. CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge

4. P. De Petris H. Nguyen M. Dharmadhikari M. Kulkarni N. Khedekar F. Mascarich K. Alexis RMF-owl: A collision-tolerant flying robot for autonomous subterranean exploration arXiv:2202.11055 (2022).

5. Graph‐based subterranean exploration path planning using aerial and legged robots

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