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
Permanent lenke
https://hdl.handle.net/11250/3045745Utgivelsesdato
2022Metadata
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Sammendrag
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.