Autonomous Multi-robot Exploration with Ground Vehicles in DARPA Subterranean Challenge Finals

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F23%3A00372582" target="_blank" >RIV/68407700:21230/23:00372582 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.55417/fr.2023008" target="_blank" >https://doi.org/10.55417/fr.2023008</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.55417/fr.2023008" target="_blank" >10.55417/fr.2023008</a>

Result language

angličtina

Original language name

Autonomous Multi-robot Exploration with Ground Vehicles in DARPA Subterranean Challenge Finals

Original language description

Autonomous navigation and multi-robot exploration framework for ground robots are key parts of the robotic system deployed by the team CTU-CRAS-NORLAB in the final event of the Subterranean (SubT) Challenge organized by the Defense Advanced Research Projects Agency (DARPA) in 2021. The SubT Challenge aimed to advance technologies related to search-and-rescue missions with multi-robot systems in underground environments where communication is unavailable and global navigation satellite systems are denied. This field report describes the developed multi- robot exploration framework focusing on planning, exploration, and traversability estimation for a heterogeneous team of ground vehicles in large-scale rough terrains and multi-robot coordination with limited communication. The developed method employs a dense local mapping for precise traversability estimation combined with a sparse topometrical map shareable between multiple robots and is thus used in the decision-making of the exploration strategy. The topometrical map is designed to support the decentralized coordination of heterogeneous teams of robots, which is demonstrated by deploying the developed framework in the SubT competitions. The framework has been employed in the Virtual track for the full autonomous control of the ground robots, where our team scored second. Besides, in the Systems track, a human supervisor exploited autonomous behaviors provided by the proposed framework to control a heterogeneous team of six ground robots. We report on real-world experimental results from the deployment of the SubT Challenge. Furthermore, we present results from the post-event testing of the SubT Challenge, where three quadruped robots controlled by the framework explored over five hundred meters fully autonomously.

Czech name

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Czech description

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Type

J_ost - Miscellaneous article in a specialist periodical

CEP classification

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OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2023

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Field Robotics

ISSN

2771-3989

e-ISSN

2771-3989

Volume of the periodical

2023

Issue of the periodical within the volume

3

Country of publishing house

US - UNITED STATES

Number of pages

35

Pages from-to

266-300

UT code for WoS article

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EID of the result in the Scopus database

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