CERBERUS in the DARPA Subterranean Challenge

Tranzatto, Marco; Miki, Takahiro; Dharmadhikari, Mihir; Bernreiter, Lukas; Kulkarni, Mihir; Mascarich, Frank; Andersson, Olov; Khattak, Shehryar; Hutter, Marco; Siegwart, Roland; Alexis, Konstantinos
Peer reviewed, Journal article
Accepted version
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URI
https://hdl.handle.net/11250/3045745
Date
2022
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Original version
Science robotics. 2022, 7 (66), eabp9742-?.   10.1126/scirobotics.abp9742
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
Journal
Science robotics