{"paper":{"title":"NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.AI"],"primary_cat":"cs.RO","authors_text":"Abhishek Cauligi, Abhishek Thakur, Alessandro Buscicchio, Alexander Hatteland, Alex Stephens, Ali Agha, Amanda Bouman, Andrea Tagliabue, Andrew Kramer, Angel Santamaria-Navarro, Anushri Dixit, Arash Kalantari, Benjamin Morrell, Benjamin Ramtoula, Brett Lopez, Carlyn Lee, Chris Choi, Christoforos Kanellakis, Chuck Bergh, David D. Fan, David Shim, Edward Terry, Eric Heiden, Fernando Chavez, Gautam Salhotra, Gene Merewether, George Nikolakopoulos, Giovanni Beltrame, Gregory Miles, Gustavo Correa, Hanseob Lee, Henry A. Leopold, Inhwan Wee, Jairo Maldonado-Contreras, Jay Gao, Jeffrey Edlund, Jeremy Nash, Jesus Tordesillas, Joel Burdick, John Mayo, Kamak Ebadi, Kyohei Otsu, Leon Kim, Luca Carlone, Maira Saboia Da Silva, Marcel Kaufmann, Matteo Palieri, Matthew Anderson, Micah Feras, Michael Wolf, Muhammad Fadhil Ginting, Nikhilesh Alatur, Nobuhiro Funabiki, Olivier Toupet, Rohan Thakker, Scott Harper, Scott Tepsuporn, Seyed Fakoorian, Shreyansh Daftry, Sunggoo Jung, Sung-Kyun Kim, Taeyeon Kim, Tara Bartlett, Thomas Lew, Thomas Touma, Tiago Stegun Vaquero, Torkom Pailevanian, Tristan Heywood, William Walsh, Xianmei Lei, Yuki Kubo, Yun Chang","submitted_at":"2021-03-21T19:42:26Z","abstract_excerpt":"This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved 2nd and 1st place, respectively. We also discuss CoSTAR's demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an u"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2103.11470","kind":"arxiv","version":4},"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/2103.11470/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"}