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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/GA23-07517S" target="_blank" >GA23-07517S: Agilní roje létajících robotů se spolehlivým multimodálním vnímáním a estimací svého stavu</a><br>

Návaznosti

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

Rok uplatnění

2024

Kód důvěrnosti údajů

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

Název periodika

IEEE Transactions on Robotics

ISSN

1552-3098

e-ISSN

1941-0468

Svazek periodika

40

Číslo periodika v rámci svazku

Oct

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

24

Strana od-do

936-959

Kód UT WoS článku

001141488700007

EID výsledku v databázi Scopus

2-s2.0-85174837810