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CERBERUS in the DARPA Subterranean Challenge

Marco Tranzatto, Takahiro Miki, Mihir Dharmadhikari, Lukas Bernreiter, Mihir Kulkarni, Frank Mascarich, Olov Andersson, Shehryar Masaud Khan Khattak, Marco Hutter, Roland Siegwart, Kostas Alexis
2022

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This article presents the core technologies and deployment strategies of Team CERBERUS that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a robotic system-of-systems involving walking and flying robots presenting resilient autonomy, as well as mapping, and navigation capabilities to explore complex underground environments.
doi:10.3929/ethz-b-000551504 fatcat:q3i64bcfgfhz7heacax53oqx5a
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Marco Tranzatto, Takahiro Miki, Mihir Dharmadhikari, Lukas Bernreiter, Mihir Kulkarni, Frank Mascarich, Olov Andersson, Shehryar Masaud Khan Khattak, Marco Hutter, Roland Siegwart, Kostas Alexis. "CERBERUS in the DARPA Subterranean Challenge." (2022)