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This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021.
Yolov4: Optimal speed and accuracy of object detection
Bochkovskiy, A., Wang, C.-Y., and Liao, H.-Y. M. (2020) · 2004
Earlier work this paper cites.
Entropy based measure of camera focus
Kristan, M. and Pernuÿs, F. (2004) · 2004
Earlier work this paper cites.
Topological exploration of subterranean environments
Silver, D., Ferguson, D., Morris, A., and Thayer, S. (2006) · 2006
Earlier work this paper cites.
Simple pragmatic approach to mesh routing using batman
Johnson, D. L., Ntlatlapa, N., and Aichele, C. (2008) · 2008
Earlier work this paper cites.
Mobile robots in mine rescue and recovery
Murphy, R. R., Kravitz, J., Stover, S. L., and Shoureshi, R. (2009) · 2009
Earlier work this paper cites.
Brisk: Binary robust invariant scalable keypoints
Leutenegger, S., Chli, M., and Siegwart, R. Y. (2011) · 2011
Earlier work this paper cites.
Apriltag: A robust and flexible visual fiducial system
Olson, E. (2011) · 2011
Earlier work this paper cites.
3d path planning and execution for search and rescue ground robots
Colas, F., Mahesh, S., Pomerleau, F., Liu, M., and Siegwart, R. (2013) · 2013
Earlier work this paper cites.
Unified temporal and spatial calibration for multi-sensor systems
Furgale, P., Rehder, J., and Siegwart, R. (2013) · 2013
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OctoMap: An efficient probabilistic 3D mapping framework based on octrees
Hornung, A., Wurm, K. M., Bennewitz, M., Stachniss, C., and Burgard, W. (2013) · 2013
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Comparing icp variants on real-world data sets
Pomerleau, F., Colas, F., Siegwart, R., and Magnenat, S. (2013) · 2013
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Long-term 3d map maintenance in dynamic environments
Pomerleau, F., Krüsi, P., Colas, F., Furgale, P., and Siegwart, R. (2014) · 2014
Earlier work this paper cites.
LOAM: Lidar odometry and mapping in real-time
Zhang, J. and Singh, S. (2014) · 2014
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Lazy collision checking in asymptotically-optimal motion planning
Hauser, K. (2015) · 2015
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What happened at the darpa robotics challenge and why?
Atkeson, C., Babu, B., Banergee, N., Berenson, D., Bove, C., Cui, X., and DeDonato, M. (2016) · 2016
Earlier work this paper cites.
Rotors-a modular gazebo mav simulator framework
Furrer, F., Burri, M., Achtelik, M., and Siegwart, R. (2016) · 2016
Earlier work this paper cites.
On degeneracy of optimization-based state estimation problems
Zhang, J., Kaess, M., and Singh, S. (2016) · 2016
Earlier work this paper cites.
Towards fully autonomous visual inspection of dark featureless dam penstocks using mavs
Özaslan, T., Mohta, K., Keller, J., Mulgaonkar, Y., Taylor, C. J., Kumar, V., Wozencraft, J. M., and Hood, T. (2016) · 2016
Earlier work this paper cites.
Factor graphs for robot perception
Dellaert, F., Kaess, M., et al. (2017) · 2017
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Telerescuer - reconnaissance mobile robot for underground coal mines
Novák, P., Babjak, J., Kot, T., Bobovský, Z., Olivka, P., Moczulski, W., Timofiejczuk, A., Adamczyk, M., Guzmán, B. G., Armada, A. G., and Rodríguez, Á. (2017) · 2017
Earlier work this paper cites.
Voxblox: Incremental 3d euclidean signed distance fields for on-board mav planning
Oleynikova, H., Taylor, Z., Fehr, M., Siegwart, R., and Nieto, J. (2017) · 2017
Earlier work this paper cites.
Autonomous navigation and mapping for inspection of penstocks and tunnels with mavs
Özaslan, T., Loianno, G., Keller, J., Taylor, C. J., Kumar, V., Wozencraft, J. M., and Hood, T. (2017) · 2017
Earlier work this paper cites.
Superpoint: Self-supervised interest point detection and description
DeTone, D., Malisiewicz, T., and Rabinovich, A. (2018) · 2018
Earlier work this paper cites.
Limo: Lidar-monocular visual odometry
Graeter, J., Wilczynski, A., and Lauer, M. (2018) · 2018
Earlier work this paper cites.
Autonomous robotic system for tunnel structural inspection and assessment
Loupos, K., Doulamis, A. D., Stentoumis, C., Protopapadakis, E., Makantasis, K., Doulamis, N., Amditis, A., Chrobocinski, P., Victores, J., Montero, R., Menendez, E., Balaguer, C., Lopez-Tarazon, R., Cantero, M., Navarro, R., Roncaglia, A., Belsito, L., Camarinopoulos, S., Komodakis, N., and Praveer, P. (2018) · 2018
Earlier work this paper cites.
Yolov3: An incremental improvement
Redmon, J. and Farhadi, A. (2018) · 2018
Earlier work this paper cites.
Lego-loam: Lightweight and ground-optimized lidar odometry and mapping on variable terrain
Shan, T. and Englot, B. (2018) · 2018
Earlier work this paper cites.
Improving object localization with fitness nms and bounded iou loss
Tychsen-Smith, L. and Petersson, L. (2018) · 2018
Cited alongside, same era.
Ground up design of a multi-modal object detection system
Agrawal, V. (2019) · 2019
Cited alongside, same era.
On autonomous spatial exploration with small hexapod walking robot using tracking camera intel realsense t265
Bayer, J. and Faigl, J. (2019) · 2019
Cited alongside, same era.
Robust thermal-inertial localization for aerial robots: A case for direct methods
Khattak, S., Mascarich, F., Dang, T., Papachristos, C., and Alexis, K. (2019) · 2019
Cited alongside, same era.
Visual-thermal landmarks and inertial fusion for navigation in degraded visual environments
Khattak, S., Papachristos, C., and Alexis, K. (2019) · 2019
Cited alongside, same era.
TARE: A Hierarchical Framework for Efficiently Exploring Complex 3D Environments
Chao, C., Hongbiao, Z., Howie, C., and Ji, Z. (2021) · 2021
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STEP: Stochastic Traversability Evaluation and Planning for Risk-Aware Off-road Navigation
Fan, D., Otsu, K., Kubo, Y., Dixit, A., Burdick, J., and Agha-mohammadi, A.-a. (2021) · 2021
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CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments
Ginting, M. F., Otsu, K., Edlund, J. A., Gao, J., and Agha-Mohammadi, A.-A. (2021) · 2021
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Virtual surfaces and attitude aware planning and behaviours for negative obstacle navigation
Hines, T., Stepanas, K., Talbot, F., Sa, I., Lewis, J., Hernandez, E., Kottege, N., and Hudson, N. (2021) · 2021
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Hudson, N., Talbot, F., Cox, M., Williams, J. L., Hines, T., Pitt, A., Wood, B., Frousheger, D., Surdo, K. L., Molnar, T., Steindl, R., Wildie, M., Sa, I., Kottege, N., Stepanas, K., Hernández, E., Catt, G., Docherty, W., Tidd, B., Tam, B., Murrell, S., Bessell, M., Hanson, L., Tychsen-Smith, L., Suzuki, H., Overs, L., Kendoul, F., Wagner, G., Palmer, D., Milani, P., O’Brien, M., Jiang, S., Chen, S., and Arkin, R. C. (2021) · 2021
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Labbé, M. and Michaud, F. (2019) · 2019
Cited alongside, same era.
Autonomous mav navigation in underground mines using darkness contours detection
Mansouri, S. S., Castaño, M., Kanellakis, C., and Nikolakopoulos, G. (2019) · 2019
Cited alongside, same era.
Autonomous exploration and mapping system using heterogeneous uavs and ugvs in gps-denied environments
Qin, H., Meng, Z., Meng, W., Chen, X., Sun, H., Lin, F., and Ang, M. H. (2019) · 2019
Cited alongside, same era.
Ground robotics in tunnels: Keys and lessons learned after 10 years of research and experiments
Tardioli, D., Riazuelo, L., Sicignano, D., Rizzo, C., Lera, F., Villarroel, J. L., and Montano, L. (2019) · 2019
Cited alongside, same era.
Speeded up elevation map for exploration of large-scale subterranean environments
Bayer, J. and Faigl, J. (2020) · 2020
Cited alongside, same era.
Graph-based subterranean exploration path planning using aerial and legged robots
Dang, T., Tranzatto, M., Khattak, S., Mascarich, F., Alexis, K., and Hutter, M. (2020) · 2020
Cited alongside, same era.
LAMP: Large-Scale Autonomous Mapping and Positioning for Exploration of Perceptually-Degraded Subterranean Environments
Ebadi, K., Chang, Y., Palieri, M., Stephens, A., Hatteland, A., Heiden, E., Thakur, A., Funabiki, N., Morrell, B., Wood, S., Carlone, L., and Agha-mohammadi, A.-a. (2020) · 2020
Cited alongside, same era.
Later among the works it cites.
PLGRIM: Hierarchical Value Learning for Large-scale Exploration in Unknown Environments
Kim, S.-K., Bouman, A., Salhotra, G., Fan, D. D., Otsu, K., Burdick, J. W., and akbar Agha-mohammadi, A. (2021) · 2021
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An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments
Krátký, V., Petráček, P., Báča, T., and Saska, M. (2021) · 2021
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D. Montgomery, “The Pentagon’s $ 82 82 Million Super Bowl of Robots”, The Washington Post Magazine
Montgomery, D. (2021) · 2021
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Multi-agent autonomy: Advancements and challenges in subterranean exploration
Ohradzansky, M. T., Rush, E. R., Riley, D. G., Mills, A. B., Ahmad, S., McGuire, S., Biggie, H., Harlow, K., Miles, M. J., Frew, E. W., Heckman, C., and Humbert, J. S. (2021) · 2021
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Rouček, T., Pecka, M., Čížek, P., Petříček, T., Bayer, J., Šalanskỳ, V., Azayev, T., Heřt, D., Petrlík, M., Báča, T., et al. (2021) · 2021
Later among the works it cites.
Resilient and modular subterranean exploration with a team of roving and flying robots
Scherer, S., Agrawal, V., Best, G., Cao, C., Cujic, K., Darnley, R., DeBortoli, R., Dexheimer, E., Drozd, B., Garg, R., Higgins, I., Keller, J., Kohanbash, D., Nogueira, L., Pradhan, R., Tatum, M., K. Viswanathan, V., Willits, S., Zhao, S., Zhu, H., Abad, D., Angert, T., Armstrong, G., Boirum, R., Dongare, A., Dworman, M., Hu, S., Jaekel, J., Ji, R., Lai, A., Hsuan Lee, Y., Luong, A., Mangelson, J., Maier, J., Picard, J., Pluckter, K., Saba, A., Saroya, M., Scheide, E., Shoemaker-Trejo, N., Spisak, J., Teza, J., Yang, F., Wilson, A., Zhang, H., Choset, H., Kaess, M., Rowe, A., Singh, S., Zhang, J., A. Hollinger, G., and Travers, M. (2021) · 2021
Later among the works it cites.
Autonomous cave surveying with an aerial robot
Tabib, W., Goel, K., Yao, J., Boirum, C., and Michael, N. (2021) · 2021
Later among the works it cites.
Autonomous off-road navigation over extreme terrains with perceptually-challenging conditions
Thakker, R., Alatur, N., Fan, D. D., Tordesillas, J., Paton, M., Otsu, K., Toupet, O., and Agha-mohammadi, A.-a. (2021) · 2021
Later among the works it cites.
Passing through narrow gaps with deep reinforcement learning
Tidd, B., Cosgun, A., Leitner, J., and Hudson, N. (2021) · 2021
Later among the works it cites.
Rough terrain navigation for legged robots using reachability planning and template learning
Wellhausen, L. and Hutter, M. (2021) · 2021
Later among the works it cites.
Real-time optimal navigation planning using learned motion costs
Yang, B., Wellhausen, L., Miki, T., Liu, M., and Hutter, M. (2021a) · 2021
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Super odometry: Imu-centric lidar-visual-inertial estimator for challenging environments
Zhao, S., Zhang, H., Wang, P., Nogueira, L., and Scherer, S. (2021) · 2021
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Collaborative robot mapping using spectral graph analysis
Bernreiter, L., Khattak, S., Ott, L., Siegwart, R., Hutter, M., and Cadena, C. (2022) · 2022
Closest in time.
Marsupial walking-and-flying robotic deployment for collaborative exploration of unknown environments
De Petris, P., Khattak, S., Dharmadhikari, M., Waibel, G., Nguyen, H., Montenegro, M., Khedekar, N., Alexis, K., and Hutter, M. (2022) · 2022
Closest in time.
Autonomous teamed exploration of subterranean environments using legged and aerial robots
Kulkarni, M., Dharmadhikari, M., Tranzatto, M., Zimmermann, S., Reijgwart, V., De Petris, P., Nguyen, H., Khedekar, N., Papachristos, C., Ott, L., Siegwart, R., Hutter, M., and Alexis, K. (2022) · 2022
Closest in time.
Elevation mapping for locomotion and navigation using gpu
Miki, T., Wellhausen, L., Grandia, R., Jenelten, F., Homberger, T., and Hutter, M. (2022b) · 2022
Closest in time.
Rmf-owl: A collision-tolerant flying robot for autonomous subterranean exploration
Petris, P. D., Nguyen, H., Dharmadhikari, M., Kulkarni, M., Khedekar, N., Mascarich, F., and Alexis, K. (2022) · 2022
Closest in time.
Wildcat: Online Continuous-Time 3D Lidar-Inertial SLAM
Ramezani, M., Khosoussi, K., Catt, G., Moghadam, P., Williams, J., Borges, P., Pauling, F., and Kottege, N. (2022) · 2022
Closest in time.
Cerberus: Autonomous legged and aerial robotic exploration in the tunnel and urban circuits of the darpa subterranean challenge
Tranzatto, M., Mascarich, F., Bernreiter, L., Godinho, C., Camurri, M., Khattak, S., Dang, T., Reijgwart, V., Loeje, J., Wisth, D., et al. (2022) · 2022
Closest in time.
Artplanner: Robust legged robot navigation in the field
Wellhausen, L. and Hutter, M. (2022) · 2022
Closest in time.
On the comparison of uncertainty criteria for active slam
Carrillo, H., Reid, I., and Castellanos, J. A. (2012) · 2087
Closest in time.