Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge
Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge
复制标题
DOI：
10.55417/fr.2022021
复制
发表时间：
2021-04
期刊：
影响因子：
--
通讯作者：
N. Hudson;Fletcher Talbot;Mark Cox;Jason L. Williams;Thomas Hines;Alex Pitt;Brett Wood;Dennis Frousheger;Katrina Lo Surdo;Tom Molnar;Ryan Steindl;Matt Wildie;Inkyu Sa;N. Kottege;Kazys Stepanas;E. Hernández;Gavin Catt;William Docherty;Brendan Tidd;Benjamin Tam;Simon Murrell;M. Bessell;L. Hanson;Lachlan Tychsen-Smith;Hajime Suzuki;L. Overs;F. Kendoul;Glenn Wagner;D. Palmer;Peter Milani;M. O'Brien;Shu Jiang;Shengkang Chen;R. Arkin
中科院分区：
文献类型：
--
作者：
N. Hudson;Fletcher Talbot;Mark Cox;Jason L. Williams;Thomas Hines;Alex Pitt;Brett Wood;Dennis Frousheger;Katrina Lo Surdo;Tom Molnar;Ryan Steindl;Matt Wildie;Inkyu Sa;N. Kottege;Kazys Stepanas;E. Hernández;Gavin Catt;William Docherty;Brendan Tidd;Benjamin Tam;Simon Murrell;M. Bessell;L. Hanson;Lachlan Tychsen-Smith;Hajime Suzuki;L. Overs;F. Kendoul;Glenn Wagner;D. Palmer;Peter Milani;M. O'Brien;Shu Jiang;Shengkang Chen;R. Arkin
不同种类的机器人团队，利用自主性和人类互动之间的平衡，为探索危险的、无结构的地下环境带来了强大的能力。在这里，我们描述了由CSIRO Data61团队开发的解决方案，该团队由CSIRO、Emesent和佐治亚理工学院组成，在DARPA地下挑战赛期间。这些展示的系统分别于2019年8月在隧道赛道、2020年2月在城市赛道和2020年9月我们自己的洞穴活动中进行了现场展示。现场团队的一项独特能力是对所用平台的同质感知，这用于通过点对点通信在每个平台(地面代理和无人机)上获得分散的多代理SLAM解决方案。这种方法使人们的重点从构建普遍的通信网络转移到依赖多代理自治，这是受到早期电路事件经验的推动。这些经验还显示了坚固的履带式平台在挑战地形方面的惊人能力，这反过来又导致了基于BIA5 OzBot Titan地面机器人和Emesent Hovermap无人机的不同团队结构，辅之以较小的履带式或腿式地面机器人。地面代理使用通用的CatPack感知模块，这允许在最小适应的情况下在所有地面代理之间重用感知和自主堆栈。
Heterogeneous teams of robots, leveraging a balance between autonomy and human interaction, bring powerful capabilities to the problem of exploring dangerous, unstructured subterranean environments. Here we describe the solution developed by Team CSIRO Data61, consisting of CSIRO, Emesent, and Georgia Tech, during the DARPA Subterranean Challenge. These presented systems were fielded in the Tunnel Circuit in August 2019, the Urban Circuit in February 2020, and in our own Cave event, conducted in September 2020. A unique capability of the fielded team is the homogeneous sensing of the platforms utilized, which is used to obtain a decentralized multi-agent SLAM solution on each platform (both ground agents and UAVs) using peer-to-peer communications. This approach enabled a shift in focus from constructing a pervasive communications network to relying on multi-agent autonomy, motivated by experiences in early circuit events. These experiences also showed the surprising capability of rugged tracked platforms for challenging terrain, which in turn led to the heterogeneous team structure based on a BIA5 OzBot Titan ground robot and an Emesent Hovermap UAV, supplemented by smaller tracked or legged ground robots. The ground agents use a common CatPack perception module, which allowed reuse of the perception and autonomy stack across all ground agents with minimal adaptation.