CERBERUS in the DARPA Subterranean Challenge
Marco Tranzatto, Takahiro Miki, Mihir Dharmadhikari, Lukas Bernreiter, Mihir Kulkarni, Frank Mascarich, Olov Andersson, Shehryar Khattak, Marco Hutter, Roland Siegwart, Kostas Alexis
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.
Topics & Concepts
Software deploymentRobotAutonomyComputer scienceHuman–computer interactionArtificial intelligencePolitical scienceSoftware engineeringLawRobotics and Automated SystemsModular Robots and Swarm IntelligenceRobotic Locomotion and Control