A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2022; you can also visit the original URL.
The file type is
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with the vision to facilitate the novel technologies necessary to reliably explore diverse underground environments despite the grueling challenges they present for robotic autonomy. Due to their geometric complexity, degraded perceptual conditions combined with lack of GPS support, austere navigation conditions, andarXiv:2207.04914v1 fatcat:lglpthomubdizfrf4n7mmw5jla