CERBERUS in the DARPA Subterranean Challenge

被引：135

作者：

Tranzatto, Marco ^{[1
]}

Miki, Takahiro ^{[1
]}

Dharmadhikari, Mihir ^{[2
]}

Bernreiter, Lukas ^{[3
]}

Kulkarni, Mihir ^{[2
]}

Mascarich, Frank ^{[4
]}

Andersson, Olov ^{[3
]}

Khattak, Shehryar ^{[1
]}

Hutter, Marco ^{[1
]}

Siegwart, Roland ^{[3
]}

Alexis, Kostas ^{[2
]}

机构：

[1] Swiss Fed Inst Technol, Robot Syst Lab, Zurich, Switzerland

[2] Norwegian Univ Sci & Technol, Autonomous Robots Lab, Trondheim, Norway

[3] Swiss Fed Inst Technol, Autonomous Syst Lab, Zurich, Switzerland

[4] Univ Nevada, Autonomous Robots Lab, Reno, NV 89557 USA

来源：

SCIENCE ROBOTICS | 2022年 / 7卷 / 66期

关键词：

Robots;

D O I：

10.1126/scirobotics.abp9742

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This article presents the core technologies and deployment strategies of Team CERBERUS that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a robotic system-of-systems involving walking and flying robots presenting resilient autonomy, as well as mapping and navigation capabilities to explore complex underground environments.

引用

页数：6

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