NeBula：在挑战性环境中追求机器人自主性；DARPA 地下挑战赛中的 CoSTAR 团队
机器人学
2021-10-19 v4 人工智能
摘要
本文介绍并讨论了 TEAM CoSTAR（协作地下自主机器人）在参加 DARPA 地下挑战赛时所开发的算法、硬件与软件架构。具体而言，介绍了在隧道（2019）与城市（2020）竞赛中使用的技术，CoSTAR 分别获得第二名与第一名。我们还讨论了 CoSTAR 在火星类比地表与地下（熔岩管）探索中的演示。本文介绍了我们的自主性解决方案，称为 NeBula（网络化信念感知感知自主）。NeBula 是一个不确定性感知框架，旨在通过在与机器人及世界状态上的概率分布空间（信念空间）中进行推理与决策，实现弹性且模块化的自主解决方案。我们讨论了 NeBula 框架的各个组件，包括：（i）几何与语义环境建图；（ii）多模态定位系统；（iii）可通行性分析与局部规划；（iv）全局运动规划与探索行为；（v）风险感知任务规划；（vi）组网与去中心化推理；（vii）学习使能的适应。我们讨论了 NeBula 在多种机器人类型（如轮式、腿式、飞行）及各类环境中的性能。我们讨论了在 DARPA 地下挑战赛竞赛艰难赛道中实地部署该方案的具体结果与经验教训。
引用
@article{arxiv.2103.11470,
title = {NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge},
author = {Ali Agha and Kyohei Otsu and Benjamin Morrell and David D. Fan and Rohan Thakker and Angel Santamaria-Navarro and Sung-Kyun Kim and Amanda Bouman and Xianmei Lei and Jeffrey Edlund and Muhammad Fadhil Ginting and Kamak Ebadi and Matthew Anderson and Torkom Pailevanian and Edward Terry and Michael Wolf and Andrea Tagliabue and Tiago Stegun Vaquero and Matteo Palieri and Scott Tepsuporn and Yun Chang and Arash Kalantari and Fernando Chavez and Brett Lopez and Nobuhiro Funabiki and Gregory Miles and Thomas Touma and Alessandro Buscicchio and Jesus Tordesillas and Nikhilesh Alatur and Jeremy Nash and William Walsh and Sunggoo Jung and Hanseob Lee and Christoforos Kanellakis and John Mayo and Scott Harper and Marcel Kaufmann and Anushri Dixit and Gustavo Correa and Carlyn Lee and Jay Gao and Gene Merewether and Jairo Maldonado-Contreras and Gautam Salhotra and Maira Saboia Da Silva and Benjamin Ramtoula and Yuki Kubo and Seyed Fakoorian and Alexander Hatteland and Taeyeon Kim and Tara Bartlett and Alex Stephens and Leon Kim and Chuck Bergh and Eric Heiden and Thomas Lew and Abhishek Cauligi and Tristan Heywood and Andrew Kramer and Henry A. Leopold and Chris Choi and Shreyansh Daftry and Olivier Toupet and Inhwan Wee and Abhishek Thakur and Micah Feras and Giovanni Beltrame and George Nikolakopoulos and David Shim and Luca Carlone and Joel Burdick},
journal= {arXiv preprint arXiv:2103.11470},
year = {2021}
}
备注
For team website, see https://costar.jpl.nasa.gov/. Accepted for publication in the Journal of Field Robotics, 2021