DARPA地下挑战赛中CTU-CRAS-NORLAB多机器人地下环境勘探系统
机器人学
2021-10-13 v1
摘要
我们呈现CTU-CRAS-NORLAB团队参与由美国国防高级研究计划局（DARPA）组织的地下挑战赛（SubT）的现场报告。该竞赛旨在推进可提升GPS拒止环境中搜救作业安全性与效率的技术。在比赛轮次中，移动机器人团队需在无线电通信受限的环境（如采矿隧道、地下车站或天然洞穴）中搜寻特定物体。我们介绍了CTU-CRAS-NORLAB团队的异构勘探机器人系统，其在SubT隧道与城市电路轮次中取得第三名，并超越所有其他非DARPA资助团队的表现。本现场报告描述了团队的硬件、传感器、算法与策略，并探讨了参与DARPA SubT竞赛所汲取的经验教训。
引用
@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}
}
备注
This paper have already been accepted to be published Filed Robotics special issue about DARPA SubT challange