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System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge

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arxiv 2110.05911 v1 pith:7JMFRIEC submitted 2021-10-12 cs.RO

System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge

Tom\'a\v{s} Rou\v{c}ek , Martin Pecka , Petr \v{C}\'i\v{z}ek , Tom\'a\v{s} Pet\v{r}\'i\v{c}ek , Jan Bayer , Vojt\v{e}ch \v{S}alansk\'y , Teymur Azayev , Daniel He\v{r}t
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Mat\v{e}j Petrl\'ik Tom\'a\v{s} B\'a\v{c}a Vojt\v{e}ch Spurn\'y V\'it Kr\'atk\'y Pavel Petr\'a\v{c}ek Dominic Baril Maxime Vaidis Vladim\'ir Kubelka Fran\c{c}ois Pomerleau Jan Faigl Karel Zimmermann Martin Saska Tom\'a\v{s} Svoboda Tom\'a\v{s} Krajn\'ik
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classification cs.RO
keywords contestctu-cras-norlabdarpaenvironmentssubtteamchallengeexploration
verification ladder T0 review T1 audit T2 compute T3 formal T4 reserved
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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 achieved the third rank at the SubT Tunnel and Urban Circuit rounds and surpassed the performance of all other non-DARPA-funded teams. The field report describes the team's hardware, sensors, algorithms and strategies, and discusses the lessons learned by participating at the DARPA SubT contest.

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