Publications (8)
Alternative Interfaces for Human-initiated Natural Language Communication and Robot-initiated Haptic Feedback: Towards Better Situational Awareness in Human-Robot Collaboration
Callum Bennie, Bridget Casey, Cecile Paris +9
This article presents an implementation of a natural-language speech interface and a haptic feedback interface that enables a human supervisor to provide guidance to, request infor…
Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge
Nicolas Hudson, Fletcher Talbot, Mark Cox +31
Heterogeneous teams of robots, leveraging a balance between autonomy and human interaction, bring powerful capabilities to the problem of exploring dangerous, unstructured subterra…
Virtual Surfaces and Attitude Aware Planning and Behaviours for Negative Obstacle Navigation
Thomas Hines, Kazys Stepanas, Fletcher Talbot +5
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning an…
OpenSHC: A Versatile Multilegged Robot Controller
Benjamin Tam, Fletcher Talbot, Ryan Steindl +2
Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them diff…
Human-Robot Team Performance Compared to Full Robot Autonomy in 16 Real-World Search and Rescue Missions: Adaptation of the DARPA Subterranean Challenge
Nicole Robinson, Jason Williams, David Howard +6
Human operators in human-robot teams are commonly perceived to be critical for mission success. To explore the direct and perceived impact of operator input on task success and tea…
Deploying COTS Legged Robot Platforms into a Heterogeneous Robot Team
Benjamin Tam, Thomas Molnar, Fletcher Talbot +2
The recent availability of commercial-off-the-shelf (COTS) legged robot platforms have opened up new opportunities in deploying legged systems into different scenarios. While the m…
Bruce -- Design and Development of a Dynamic Hexapod Robot
Ryan Steindl, Thomas Molnar, Fletcher Talbot +4
This paper introduces Bruce, the CSIRO Dynamic Hexapod Robot capable of autonomous, dynamic locomotion over difficult terrain. This robot is built around Apptronik linear series el…
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge
Navinda Kottege, Jason Williams, Brendan Tidd +27
The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots to explore difficult unknown underground environments. Categorised in…