CERBERUS in the DARPA Subterranean Challenge.

Journal: Science robotics
Published Date: May 25, 2022

Abstract

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.

Authors

  • Marco Tranzatto
    Robotic Systems Lab, ETH Zurich, Zurich, Switzerland.
  • Takahiro Miki
    Robotic Systems Lab, ETH-Zürich, Zürich, Switzerland.
  • Mihir Dharmadhikari
    Autonomous Robots Lab, Norwegian University of Science and Technology, Trondheim, Norway.
  • Lukas Bernreiter
    Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland.
  • Mihir Kulkarni
    Autonomous Robots Lab, Norwegian University of Science and Technology, Trondheim, Norway.
  • Frank Mascarich
    Autonomous Robots Lab, University of Nevada, Reno, NV, USA.
  • Olov Andersson
    Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland.
  • Shehryar Khattak
    Robotic Systems Lab, ETH Zurich, Zurich, Switzerland.
  • Marco Hutter
    Robotic Systems Lab, ETH-Zürich, Zürich, Switzerland.
  • Roland Siegwart
    Autonomous Systems Lab, ETH Zurich, Zurich, Switzerland.
  • Kostas Alexis
    Autonomous Robots Lab, Norwegian University of Science and Technology, Trondheim, Norway.

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