Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge

Author:

Ebadi Kamak1ORCID,Bernreiter Lukas2ORCID,Biggie Harel3ORCID,Catt Gavin4ORCID,Chang Yun5ORCID,Chatterjee Arghya6ORCID,Denniston Christopher E.7ORCID,Deschênes Simon-Pierre8ORCID,Harlow Kyle3ORCID,Khattak Shehryar9ORCID,Nogueira Lucas10ORCID,Palieri Matteo11ORCID,Petráček Pavel12ORCID,Petrlík Matěj13ORCID,Reinke Andrzej14ORCID,Krátký Vít15ORCID,Zhao Shibo16,Agha-mohammadi Ali-akbar17ORCID,Alexis Kostas18ORCID,Heckman Christoffer3ORCID,Khosoussi Kasra19ORCID,Kottege Navinda4ORCID,Morrell Benjamin20ORCID,Hutter Marco21ORCID,Pauling Fred22ORCID,Pomerleau François23ORCID,Saska Martin24ORCID,Scherer Sebastian16ORCID,Siegwart Roland25ORCID,Williams Jason L.26ORCID,Carlone Luca27ORCID

Affiliation:

1. Department of Mobility and Robotic Systems, NASA Jet Propulsion Laboratory, Pasadena, CA, USA

2. Department of Mechanical Engineering, ETH Zürich, Autonomous Systems Lab, Zürich, Switzerland

3. Department of Computer Science, University of Colorado Boulder, Boulder, CO, USA

4. Robotics and Autonomous Systems Group, CSIRO, Pullenvale, QLD, Australia

5. Department of Aeronautics and Astronautics, MIT, Cambridge, MA, USA

6. Department of Mechanical Engineering, Bangladesh University of Engineering and Technology, Dhaka, Bangladesh

7. Robotics Embedded Systems Lab, University of Southern California, Los Angeles, CA, USA

8. Department of Computer Science and Software Engineering, Laval University, Québec, QC, Canada

9. Department of Mechanical and Process Engineering, ETH Zürich, Zürich, Switzerland

10. Carnegie Mellon University, Pittsburgh, PA, USA

11. 347J, NASA Jet Propulsion Laboratory, Pasadena, CA, USA

12. Faculty of Electrical Engineering, Department of Cybernetics, Multi-Robot Systems Group, Czech Technical University in Prague, Prague, Czech Republic

13. Department of Cybernetics, Czech Technical University in Prague, Ceske Budejovice, Czech Republic

14. Agricultural Faculty, University of Bonn, Bonn, Germany

15. Department of Cybernetics, Czech Technical University in Prague, Prague, Czech Republic

16. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, USA

17. Robotics NASA-JPL, Caltech, Pasadena, CA, USA

18. Department of Engineering Cybernetics, NTNU - Norwegian University of Science and Technology, Trondheim, Norway

19. Data61, Commonwealth Scientific and Industrial Research, Pullenvale, QLD, Australia

20. Department of Mobility and Robotic Systems, Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA, USA

21. Institute of Robotics and Intelligent Systems, ETH Zurich, Zurich, Switzerland

22. Department of Robotics, CSIRO Robotics and Autonomous Systems, Pullenvale, QLD, Australia

23. Department of Computer Science and Software Engineering, Université Laval, Quebec City, Canada

24. Department of Cybernetics, Czech Technical University in Prague, Prague 6, Czech Republic

25. Autonomous Systems Lab, ETH Zürich, Zürich, Switzerland

26. Robotics and Autonomous Systems Group, CSIRO, Kenmore, QLD, Australia

27. Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, Cambridge, MA, USA

Funder

Jet Propulsion Laboratory—California Institute of Technology

National Aeronautics and Space Administration

Defense Advanced Research Projects Agency

GACR Agency

Office of Naval Research RAPID program

Publisher

Institute of Electrical and Electronics Engineers (IEEE)

Subject

Electrical and Electronic Engineering,Computer Science Applications,Control and Systems Engineering

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