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…