相关论文: NeBula: Quest for Robotic Autonomy in Challenging …

This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents…

This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, particularly those involved in the DARPA Subterranean…

We propose a framework for resilient autonomous navigation in perceptually challenging unknown environments with mobility-stressing elements such as uneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffs and…

This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with the vision to facilitate the novel technologies necessary…

For collaborative robots to become useful, end users who are not robotics experts must be able to instruct them to perform a variety of tasks. With this goal in mind, we developed a system for end-user creation of robust task plans with a…

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…

Although autonomy has gained widespread usage in structured and controlled environments, robotic autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as undeveloped…

Artificial intelligence has undergone immense growth and maturation in recent years, though autonomous systems have traditionally struggled when fielded in diverse and previously unknown environments. DARPA is seeking to change that with…

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 has motivated the DARPA Subterranean…

Robot autonomy in unknown, GPS-denied, and complex underground environments requires real-time, robust, and accurate onboard pose estimation and mapping for reliable operations. This becomes particularly challenging in perception-degraded…

Subterranean environments with lots of obstacles, including narrow passages, large voids, rock falls and absence of illumination were always challenging for control, navigation, and perception of mobile robots. The limited availability and…

Due to the highly complex environment present during the DARPA Subterranean Challenge, all six funded teams relied on legged robots as part of their robotic team. Their unique locomotion skills of being able to step over obstacles require…

The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots to explore difficult unknown underground environments. Categorised in to human-made tunnels, underground urban infrastructure and…

This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…

The DARPA Subterranean Challenge is leading the development of robots capable of mapping underground mines and tunnels up to 8km in length and identify objects and people. Developing these autonomous abilities paves the way for future…

While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean…

This paper presents a self-contained system for the robust utilization of aerial robots in the autonomous exploration of cave environments to help human explorers, first responders, and speleologists. The proposed system is generally…

Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping. This crucial requirement is faced with many challenges in complex and…

The evaluation of Vision-Language-Action (VLA) agents is hindered by the coarse, end-task success metric that fails to provide precise skill diagnosis or measure robustness to real-world perturbations. This challenge is exacerbated by a…

Edge & Fog computing have received considerable attention as promising candidates for the evolution of robotic systems. In this letter, we propose COTORRA, an Edge & Fog driven robotic testbed that combines context information with robot…