Team CERBERUS wins the DARPA subterranean challenge: technical overview and lessons learned by Tranzatto, M, Dharmadhikari, M, Bernreiter, L, Camurri, M, Khattak, S, Mascarich, F, Pfreundschuh, P, Wisth, D, Zimmermann, S, Kulkarni, M, Reijgwart, V, Casseau, B, Homberger, T, De Petris, P, Ott, L, Tubby, W, Waibel, G, Nguyen, H, Cadena, C, Buchanan, R, Wellhausen, L, Khedekar, N, Andersson, O, Zhang, L, Miki, T, Dang, T, Mattamala, M, Montenegro, M, Meyer, K, Wu, X, Briod, A, Mueller, M, Siegwart, R, Hutter, M, Fallon, M, Alexis, K

CERBERUS: autonomous legged and aerial robotic exploration in the tunnel and urban circuits of the DARPA Subterranean Challenge by Tranzatto, M, Mascarich, F, Bernreiter, L, Godinho, C, Camurri, M, Khattak, S, Dang, T, Reijgwart, V, Löje, J, Wisth, D, Zimmermann, S, Nguyen, H, Fehr, M, Solanka, L, Buchanan, R, Bjelonic, M, Khedekar, N, Valceschini, M, Jenelten, F, Dharmadhikari, M, Homberger, T, De Petris, P, Wellhausen, L, Kulkarni, M, Miki, T, Hirsch, S, Montenegro, M, Papachristos, C, Tresoldi, F, Carius, J, Valsecchi, G, Lee, J, Meyer, K, Wu, X, Nieto, J, Smith, A, Hutter, M, Siegwart, R, Mueller, M, Fallon, M, Alexis, K