CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge.
Marco TranzattoFrank MascarichLukas BernreiterCarolina GodinhoMarco CamurriShehryar KhattakTung DangVictor ReijgwartJohannes LoejeDavid WisthSamuel ZimmermannHuan NguyenMarius FehrLukas SolankaRussell BuchananMarko BjelonicNikhil KhedekarMathieu ValceschiniFabian JeneltenMihir DharmadhikariTimon HombergerPaolo De PetrisLorenz WellhausenMihir KulkarniTakahiro MikiSatchel HirschMarkus MontenegroChristos PapachristosFabian TresoldiJan CariusGiorgio ValsecchiJoonho LeeKonrad MeyerXiangyu WuJuan I. NietoAndy SmithMarco HutterRoland SiegwartMark W. MuellerMaurice F. FallonKostas AlexisPublished in: CoRR (2022)
Keyphrases
- robotic systems
- grand challenge
- urban areas
- high speed
- mobile robot
- motion control
- autonomous learning
- autonomous robots
- mobile robotics
- real time
- satellite images
- autonomous navigation
- logic circuits
- service robots
- object manipulation
- rough terrain
- public transport
- power dissipation
- delay insensitive
- tunnel diode
- vehicle tracking
- urban planning
- circuit design
- human operators
- vision system
- control system