CERBERUS: autonomous legged and aerial robotic exploration in the tunnel and urban circuits of the DARPA Subterranean Challenge

CERBERUS: autonomous legged and aerial robotic exploration in the tunnel and urban circuits of the DARPA Subterranean Challenge

Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems, as underground settings present key challenges that can render robot autonomy hard to achieve. This problem has motivated the DARPA Subterranean Challenge, where teams of robots search for objects o...

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Bibliographic Details
Main Authors: 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
Format: Journal article
Language:English
Published: Field Robotics Publication Society 2022

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