We present a field report of CTU-CRAS-NORLAB team from the Subterranean Challenge (SubT) organised by the Defense Advanced Research Projects Agency (DARPA). The contest seeks to advance technologies that would improve the safety and efficiency of search-and-rescue operations in GPS-denied environments. During the contest rounds, teams of mobile robots have to find specific objects while operating in environments with limited radio communication, e.g. mining tunnels, underground stations or natural caverns. We present a heterogeneous exploration robotic system of the CTU-CRAS-NORLAB team, which achieved the third rank at the SubT Tunnel and Urban Circuit rounds and surpassed the performance of all other non-DARPA-funded teams. The field report describes the team's hardware, sensors, algorithms and strategies, and discusses the lessons learned by participating at the DARPA SubT contest.
@article{arxiv.2110.05911,
title = {System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge},
author = {Tomáš Rouček and Martin Pecka and Petr Čížek and Tomáš Petříček and Jan Bayer and Vojtěch Šalanský and Teymur Azayev and Daniel Heřt and Matěj Petrlík and Tomáš Báča and Vojtěch Spurný and Vít Krátký and Pavel Petráček and Dominic Baril and Maxime Vaidis and Vladimír Kubelka and François Pomerleau and Jan Faigl and Karel Zimmermann and Martin Saska and Tomáš Svoboda and Tomáš Krajník},
journal= {arXiv preprint arXiv:2110.05911},
year = {2021}
}
Comments
This paper have already been accepted to be published Filed Robotics special issue about DARPA SubT challange