{"paper":{"title":"System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Daniel He\\v{r}t, Dominic Baril, Fran\\c{c}ois Pomerleau, Jan Bayer, Jan Faigl, Karel Zimmermann, Martin Pecka, Martin Saska, Mat\\v{e}j Petrl\\'ik, Maxime Vaidis, Pavel Petr\\'a\\v{c}ek, Petr \\v{C}\\'i\\v{z}ek, Teymur Azayev, Tom\\'a\\v{s} B\\'a\\v{c}a, Tom\\'a\\v{s} Krajn\\'ik, Tom\\'a\\v{s} Pet\\v{r}\\'i\\v{c}ek, Tom\\'a\\v{s} Rou\\v{c}ek, Tom\\'a\\v{s} Svoboda, V\\'it Kr\\'atk\\'y, Vladim\\'ir Kubelka, Vojt\\v{e}ch Spurn\\'y, Vojt\\v{e}ch \\v{S}alansk\\'y","submitted_at":"2021-10-12T11:43:48Z","abstract_excerpt":"We present a field report of CTU-CRAS-NORLAB team from the Subterranean Challenge (SubT) organised by the Defense Advanced Research Projects Agency (DARPA). The contest seeks to advance technologies that would improve the safety and efficiency of search-and-rescue operations in GPS-denied environments. During the contest rounds, teams of mobile robots have to find specific objects while operating in environments with limited radio communication, e.g. mining tunnels, underground stations or natural caverns. We present a heterogeneous exploration robotic system of the CTU-CRAS-NORLAB team, which"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2110.05911","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2110.05911/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}