Tranzatto Marco, Miki Takahiro, Dharmadhikari Mihir, Bernreiter Lukas, Kulkarni Mihir, Mascarich Frank, Andersson Olov, Khattak Shehryar, Hutter Marco, Siegwart Roland, Alexis Kostas
Robotic Systems Lab, ETH Zurich, Zurich, Switzerland.
Autonomous Robots Lab, Norwegian University of Science and Technology, Trondheim, Norway.
Sci Robot. 2022 May 25;7(66):eabp9742. doi: 10.1126/scirobotics.abp9742.
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.
本文介绍了地狱犬团队的核心技术和部署策略，这些技术和策略使我们在DARPA地下挑战赛决赛中取得了胜利。地狱犬是一个机器人系统集群，其中包括具备弹性自主能力的步行和飞行机器人，以及用于探索复杂地下环境的测绘和导航能力。
