8 citations · 16 across the 5 of their papers we have counts for
5 papers · 1 filter
Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned
Marco Tranzatto, Mihir Dharmadhikari, Lukas Bernreiter +33
This article presents the CERBERUS robotic system-of-systems, which won the DARPA Subterranean Challenge Final Event in 2021. The Subterranean Challenge was organized by DARPA with…
RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration
Paolo De Petris, Huan Nguyen, Mihir Dharmadhikari +4
This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilie…
CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge
Marco Tranzatto, Frank Mascarich, Lukas Bernreiter +38
Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy h…
Autonomous Aerial Robotic Surveying and Mapping with Application to Construction Operations
Huan Nguyen, Frank Mascarich, Tung Dang +1
In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal map…
Towards Robotically Supported Decommissioning of Nuclear Sites
Frank Mascarich, Taylor Wilson, Tung Dang +3
This paper overviews certain radiation detection, perception, and planning challenges for nuclearized robotics that aim to support the waste management and decommissioning mission.…