Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F24%3A00369211" target="_blank" >RIV/68407700:21230/24:00369211 - isvavai.cz</a>

Result on the web

<a href="https://doi.org/10.1109/TRO.2023.3323938" target="_blank" >https://doi.org/10.1109/TRO.2023.3323938</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/TRO.2023.3323938" target="_blank" >10.1109/TRO.2023.3323938</a>

Result language

angličtina

Original language name

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge

Original language description

This paper surveys recent progress and discusses future opportunities for Simultaneous Localization And Mapping (SLAM) in extreme underground environments. SLAM in subterranean environments, from tunnels, caves, and man-made underground structures on Earth, to lava tubes on Mars, is a key enabler for a range of applications, such as planetary exploration, search and rescue, disaster response, and automated mining, among others. SLAM in underground environments has recently received substantial attention, thanks to the DARPA Subterranean (SubT) Challenge , a global robotics competition aimed at assessing and pushing the state of the art in autonomous robotic exploration and mapping in complex underground environments. This paper reports on the state of the art in underground SLAM by discussing different SLAM strategies and results across six teams that participated in the three-year-long SubT competition. In particular, the paper has four main goals. First, we review the algorithms, architectures, and systems adopted by the teams; particular emphasis is put on LIDAR-centric SLAM solutions (the go-to approach for virtually all teams in the competition), heterogeneous multi-robot operation (including both aerial and ground robots), and real-world underground operation (from the presence of obscurants to the need to handle tight computational constraints). We do not shy away from discussing the “dirty details” behind the different SLAM systems, which are often omitted from technical papers. Second, we discuss the maturity of the field by highlighting what is possible with the current SLAM systems and what we believe is within reach with some good systems engineering. Third, we outline what we believe are fundamental open problems, that are likely to require further research to break through. Finally, we provide a list of open-source SLAM implementations and datasets that have been produced during the SubT challenge and related efforts, and constitute a useful resource for researchers and practitioners.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/GA23-07517S" target="_blank" >GA23-07517S: Agile swarms of aerial robots with reliable multimodal sensing and state-estimation capabilities</a><br>

Continuities

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

Publication year

2024

Confidentiality

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

Name of the periodical

IEEE Transactions on Robotics

ISSN

1552-3098

e-ISSN

1941-0468

Volume of the periodical

40

Issue of the periodical within the volume

Oct

Country of publishing house

US - UNITED STATES

Number of pages

24

Pages from-to

936-959

UT code for WoS article

001141488700007

EID of the result in the Scopus database

2-s2.0-85174837810