DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments
DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments
复制标题
DARPA 地下挑战：地下环境的多机器人探索
DOI：
10.1007/978-3-030-43890-6_22
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发表时间：
2019
影响因子：
3.7
通讯作者：
T. Krajník
中科院分区：
文献类型：
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作者：
Tomáš Rouček;M. Pecka;P. Čížek;T. Petříček;J. Bayer;Vojtěch Šalanský;Daniel Heřt;Matěj Petrlík;T. Báča;Vojtech Spurný;F. Pomerleau;V. Kubelka;J. Faigl;K. Zimmermann;M. Saska;T. Svoboda;T. Krajník
地下挑战赛（SubT）是由美国国防高级研究计划局（DARPA）组织的一项竞赛。比赛反映了提高地下搜救任务安全性和效率的要求。在SubT挑战赛中，移动机器人团队必须探测、定位并报告地下环境中特定物体的位置。本文描述了我们的CTU-CRAS团队的多机器人异构探索系统，该系统在隧道电路回合中获得了第三名，超过了所有其他非darpa资助的竞争对手。除了描述所使用的平台、算法和策略外，我们还讨论了参加此类比赛所获得的经验教训。
The Subterranean Challenge (SubT) is a contest organised by the Defense Advanced Research Projects Agency (DARPA). The contest reflects the requirement of increasing safety and efficiency of underground search-and-rescue missions. In the SubT challenge, teams of mobile robots have to detect, localise and report positions of specific objects in an underground environment. This paper provides a description of the multi-robot heterogeneous exploration system of our CTU-CRAS team, which scored third place in the Tunnel Circuit round, surpassing the performance of all other non-DARPA-funded competitors. In addition to the description of the platforms, algorithms and strategies used, we also discuss the lessons-learned by participating at such contest.