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cs.RO2022
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…
cs.RO2022★ 31 cited
An Efficient Locally Reactive Controller for Safe Navigation in Visual Teach and Repeat Missions
Matías Mattamala, Nived Chebrolu, Maurice Fallon
To achieve successful field autonomy, mobile robots need to freely adapt to changes in their environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often ass…