NeBula自动化方案的扩展：面向更大规模环境的TEAM CoSTAR解决方案补充
机器人学
2025-04-21 v1 系统与控制
系统与控制
摘要
本文是DARPA地下通道挑战中TEAM CoSTAR（Collaborative Subterranean Autonomous Robots）团队开发的原始NeBula自动化解决方案的补充论文。具体而言，本文提出针对扩大探索环境范围而对NeBula硬件、软件和算法组件的扩展。从算法角度，本文讨论了以下对原有NeBula框架的扩展：（i）大规模几何与语义环境映射；（ii）自适应定位系统；（iii）概率可遍历性分析与局部规划；（iv）基于大规模POMDP的全局运动规划与探索行为；（v）大规模网络与去中心化推理；（vi）通信感知的任务规划；以及（vii）多模态地面-空中探索解决方案。我们展示了所提出系统与解决方案在 various 大规模地下环境中的应用与部署，包括石灰岩矿山的探索场景以及DARPA地下通道挑战中的实际部署。
引用
@article{arxiv.2504.13461,
title = {An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments},
author = {Ali Agha and Kyohei Otsu and Benjamin Morrell and David D. Fan and Sung-Kyun Kim and Muhammad Fadhil Ginting and Xianmei Lei and Jeffrey Edlund and Seyed Fakoorian and Amanda Bouman and Fernando Chavez and Taeyeon Kim and Gustavo J. Correa and Maira Saboia and Angel Santamaria-Navarro and Brett Lopez and Boseong Kim and Chanyoung Jung and Mamoru Sobue and Oriana Claudia Peltzer and Joshua Ott and Robert Trybula and Thomas Touma and Marcel Kaufmann and Tiago Stegun Vaquero and Torkom Pailevanian and Matteo Palieri and Yun Chang and Andrzej Reinke and Matthew Anderson and Frederik E. T. Schöller and Patrick Spieler and Lillian M. Clark and Avak Archanian and Kenny Chen and Hovhannes Melikyan and Anushri Dixit and Harrison Delecki and Daniel Pastor and Barry Ridge and Nicolas Marchal and Jose Uribe and Sharmita Dey and Kamak Ebadi and Kyle Coble and Alexander Nikitas Dimopoulos and Vivek Thangavelu and Vivek S. Varadharajan and Nicholas Palomo and Antoni Rosinol and Arghya Chatterjee and Christoforos Kanellakis and Bjorn Lindqvist and Micah Corah and Kyle Strickland and Ryan Stonebraker and Michael Milano and Christopher E. Denniston and Sami Sahnoune and Thomas Claudet and Seungwook Lee and Gautam Salhotra and Edward Terry and Rithvik Musuku and Robin Schmid and Tony Tran and Ara Kourchians and Justin Schachter and Hector Azpurua and Levi Resende and Arash Kalantari and Jeremy Nash and Josh Lee and Christopher Patterson and Jennifer G. Blank and Kartik Patath and Yuki Kubo and Ryan Alimo and Yasin Almalioglu and Aaron Curtis and Jacqueline Sly and Tesla Wells and Nhut T. Ho and Mykel Kochenderfer and Giovanni Beltrame and George Nikolakopoulos and David Shim and Luca Carlone and Joel Burdick},
journal= {arXiv preprint arXiv:2504.13461},
year = {2025}
}