Signal-based self-organization of a chain of UAVs for subterranean exploration

UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT

This paper presents a novel approach for autonomous cooperating UAVs in search and rescue operations in subterranean domains with complex topology. The proposed system was ranked second in the Virtual Track of the DARPA SubT Finals as part of the team CTU-CRAS-NORLAB. In contrast to the winning solution that was developed specifically for the Virtual Track, the proposed solution also proved to be a robust system for deployment onboard physical UAVs flying in the extremely harsh and confined environment of the real-world competition. The proposed approach enables fully autonomous and decentrali…

地下环境中利用关键帧贡献的分段地图进行拓扑探索

Topological Exploration using Segmented Map with Keyframe Contribution in Subterranean Environments

本文针对地下大规模环境探索效率低的问题，提出基于三维稠密地图生成分段探索区域和利用LiDAR视线特征构建拓扑地图的方法，通过关键帧贡献切换局部与全局路径规划，实现探索体积增量性能提升62%。

Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge

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 …