CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge. Marco Tranzatto, F. M., Lukas Bernreiter, C. G., Marco Camurri, S. M. K. K., Tung Dang, V. R., Johannes Loeje, D. W., Samuel Zimmermann, H. N., Marius Fehr, L. S., Russell Buchanan, M. B., Nikhil Khedekar, M. V., Fabian Jenelten, M. D., Timon Homberger, P. D. P., Lorenz Wellhausen, M. K., Takahiro Miki, S. H., Markus Montenegro, C. P., Fabian Tresoldi, J. C., Giorgio Valsecchi, J. L., Konrad Meyer, X. W., Juan Nieto, A. S., Marco Hutter, R. Y S., & Mark Mueller, M. F. Journal of Field Robotics, 2021.
Pdf abstract bibtex 5 downloads 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 Challenge, where teams of robots search for objects of interest in various underground environments. In response, the CERBERUS system-of-systems is presented as a unified strategy towards subterranean exploration using legged and flying robots. As primary robots, ANYmal quadruped systems are deployed considering their endurance and potential to traverse challenging terrain. For aerial robots, both conventional and collision-tolerant multirotors are utilized to explore spaces too narrow or otherwise unreachable by ground systems. Anticipating degraded sensing conditions, a complementary multi-modal sensor fusion approach utilizing camera, LiDAR, and inertial data for resilient robot pose estimation is proposed. Individual robot pose estimates are refined by a centralized multi-robot map optimization approach to improve the reported location accuracy of detected objects of interest in the DARPA-defined coordinate frame. Furthermore, a unified exploration path planning policy is presented to facilitate the autonomous operation of both legged and aerial robots in complex underground networks. Finally, to enable communication between the robots and the base station, CERBERUS utilizes a ground rover with a high-gain antenna and an optical fiber connection to the base station, alongside breadcrumbing of wireless nodes by our legged robots. We report results from the CERBERUS system-of-systems deployment at the DARPA Subterranean Challenge Tunnel and Urban Circuits, along with the current limitations and the lessons learned for the benefit of the community.
@article{tranzatto2021cerberus,
author = {Marco Tranzatto, Frank Mascarich, Lukas Bernreiter,
Carolina Godinho, Marco Camurri, Shehryar Masaud Khan Khattak,
Tung Dang, Victor Reijgwart, Johannes Loeje, David Wisth,
Samuel Zimmermann, Huan Nguyen, Marius Fehr, Lukas Solanka,
Russell Buchanan, Marko Bjelonic, Nikhil Khedekar, Mathieu Valceschini,
Fabian Jenelten, Mihir Dharmadhikari, Timon Homberger, Paolo De Petris,
Lorenz Wellhausen, Mihir Kulkarni, Takahiro Miki, Satchel Hirsch,
Markus Montenegro, Christos Papachristos, Fabian Tresoldi, Jan Carius,
Giorgio Valsecchi, Joonho Lee, Konrad Meyer, Xiangyu Wu, Juan Nieto,
Andy Smith, Marco Hutter, Roland Y Siegwart, Mark Mueller,
Maurice Fallon, Kostas Alexis},
title = {CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge},
journal = {Journal of Field Robotics},
year = {2021},
abstract = {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 Challenge, where teams of robots search
for objects of interest in various underground environments. In response,
the CERBERUS system-of-systems is presented as a unified strategy towards
subterranean exploration using legged and flying robots. As primary robots,
ANYmal quadruped systems are deployed considering their endurance and potential
to traverse challenging terrain. For aerial robots, both conventional and
collision-tolerant multirotors are utilized to explore spaces too narrow or
otherwise unreachable by ground systems. Anticipating degraded sensing
conditions, a complementary multi-modal sensor fusion approach utilizing
camera, LiDAR, and inertial data for resilient robot pose estimation is
proposed. Individual robot pose estimates are refined by a centralized
multi-robot map optimization approach to improve the reported location
accuracy of detected objects of interest in the DARPA-defined coordinate
frame. Furthermore, a unified exploration path planning policy is presented
to facilitate the autonomous operation of both legged and aerial robots in
complex underground networks. Finally, to enable communication between the
robots and the base station, CERBERUS utilizes a ground rover with a high-gain
antenna and an optical fiber connection to the base station, alongside breadcrumbing
of wireless nodes by our legged robots. We report results from the CERBERUS
system-of-systems deployment at the DARPA Subterranean Challenge Tunnel and Urban Circuits,
along with the current limitations and the lessons learned for the benefit of the community.},
url_pdf = {https://www.research-collection.ethz.ch/handle/20.500.11850/489726},
}
Downloads: 5
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F."],"bibdata":{"bibtype":"article","type":"article","author":[{"propositions":[],"lastnames":["Marco","Tranzatto"],"firstnames":["Frank","Mascarich"],"suffixes":[]},{"propositions":[],"lastnames":["Lukas","Bernreiter"],"firstnames":["Carolina","Godinho"],"suffixes":[]},{"propositions":[],"lastnames":["Marco","Camurri"],"firstnames":["Shehryar","Masaud","Khan","Khattak"],"suffixes":[]},{"propositions":[],"lastnames":["Tung","Dang"],"firstnames":["Victor","Reijgwart"],"suffixes":[]},{"propositions":[],"lastnames":["Johannes","Loeje"],"firstnames":["David","Wisth"],"suffixes":[]},{"propositions":[],"lastnames":["Samuel","Zimmermann"],"firstnames":["Huan","Nguyen"],"suffixes":[]},{"propositions":[],"lastnames":["Marius","Fehr"],"firstnames":["Lukas","Solanka"],"suffixes":[]},{"propositions":[],"lastnames":["Russell","Buchanan"],"firstnames":["Marko","Bjelonic"],"suffixes":[]},{"propositions":[],"lastnames":["Nikhil","Khedekar"],"firstnames":["Mathieu","Valceschini"],"suffixes":[]},{"propositions":[],"lastnames":["Fabian","Jenelten"],"firstnames":["Mihir","Dharmadhikari"],"suffixes":[]},{"propositions":[],"lastnames":["Timon","Homberger"],"firstnames":["Paolo","De","Petris"],"suffixes":[]},{"propositions":[],"lastnames":["Lorenz","Wellhausen"],"firstnames":["Mihir","Kulkarni"],"suffixes":[]},{"propositions":[],"lastnames":["Takahiro","Miki"],"firstnames":["Satchel","Hirsch"],"suffixes":[]},{"propositions":[],"lastnames":["Markus","Montenegro"],"firstnames":["Christos","Papachristos"],"suffixes":[]},{"propositions":[],"lastnames":["Fabian","Tresoldi"],"firstnames":["Jan","Carius"],"suffixes":[]},{"propositions":[],"lastnames":["Giorgio","Valsecchi"],"firstnames":["Joonho","Lee"],"suffixes":[]},{"propositions":[],"lastnames":["Konrad","Meyer"],"firstnames":["Xiangyu","Wu"],"suffixes":[]},{"propositions":[],"lastnames":["Juan","Nieto"],"firstnames":["Andy","Smith"],"suffixes":[]},{"propositions":[],"lastnames":["Marco","Hutter"],"firstnames":["Roland","Y","Siegwart"],"suffixes":[]},{"propositions":[],"lastnames":["Mark","Mueller"],"firstnames":["Maurice","Fallon"],"suffixes":[]}],"title":"CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge","journal":"Journal of Field Robotics","year":"2021","abstract":"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 Challenge, where teams of robots search for objects of interest in various underground environments. In response, the CERBERUS system-of-systems is presented as a unified strategy towards subterranean exploration using legged and flying robots. As primary robots, ANYmal quadruped systems are deployed considering their endurance and potential to traverse challenging terrain. For aerial robots, both conventional and collision-tolerant multirotors are utilized to explore spaces too narrow or otherwise unreachable by ground systems. Anticipating degraded sensing conditions, a complementary multi-modal sensor fusion approach utilizing camera, LiDAR, and inertial data for resilient robot pose estimation is proposed. Individual robot pose estimates are refined by a centralized multi-robot map optimization approach to improve the reported location accuracy of detected objects of interest in the DARPA-defined coordinate frame. 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This has\n motivated the DARPA Subterranean Challenge, where teams of robots search\n for objects of interest in various underground environments. In response,\n the CERBERUS system-of-systems is presented as a unified strategy towards\n subterranean exploration using legged and flying robots. As primary robots,\n ANYmal quadruped systems are deployed considering their endurance and potential\n to traverse challenging terrain. For aerial robots, both conventional and\n collision-tolerant multirotors are utilized to explore spaces too narrow or\n otherwise unreachable by ground systems. Anticipating degraded sensing\n conditions, a complementary multi-modal sensor fusion approach utilizing\n camera, LiDAR, and inertial data for resilient robot pose estimation is\n proposed. Individual robot pose estimates are refined by a centralized\n multi-robot map optimization approach to improve the reported location\n accuracy of detected objects of interest in the DARPA-defined coordinate\n frame. Furthermore, a unified exploration path planning policy is presented\n to facilitate the autonomous operation of both legged and aerial robots in\n complex underground networks. Finally, to enable communication between the\n robots and the base station, CERBERUS utilizes a ground rover with a high-gain\n antenna and an optical fiber connection to the base station, alongside breadcrumbing\n of wireless nodes by our legged robots. 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