DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments

Rouček, Tomáš; Pecka, Martin; Čížek, Petr; Petříček, Tomáš; Bayer, Jan; Šalanský, Vojtěch; Heřt, Daniel; Petrlík, Matěj; Báča, Tomáš; Spurný, Vojěch; Pomerleau, François; Kubelka, Vladimír; Faigl, Jan; Zimmermann, Karel; Saska, Martin; Svoboda, Tomáš; Krajník, Tomáš

doi:10.1007/978-3-030-43890-6_22

Cited by 75 publications

(53 citation statements)

References 23 publications

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“…Humanoid robots [34] and human-robot coordination strategies [35] for SAR operations were presented in the 2013-2015 DARPA Robotics Challenge. The DARPA Subterranean (SubT) Challenge, running in 2018-2021, has shifted the focus towards underground MRS for SAR operations, with ground robots and UAVs collaborating in the tasks [36]. This challenge has demonstrated the versatility and significant increase of flexibility of heterogenous MRS [37], with robust UAV flight in inherent constrained environments [38], and ground robots able of navigating complex environments and longterm autonomy [39].…”

Section: International Projects and Competitionsmentioning

confidence: 99%

“…The recent DARPA SubT challenge has seen the design and deployment of flexible and robust ground units able of long-term autonomy and carry aerial units. For instance, the CTU-CRAS team, achieving the best non-DARPA-funded performance in the tunnel track, utilized a Husky A200 (wheeled robot), two Absolem platform (tracked robot with four flippers), and six-legged PhantomX Mark II platforms (crawling hexapod robots) [36].…”

Section: ) Ground Robotsmentioning

confidence: 99%

“…In [39], the authors present Duckiefloat, a collision-tolerant blimp for longterm autonomy in underground environments. The CTU-CRAS team utilized quadrotors based on the F450 kit by DJI, with a Bluefox RGB camera and ambient illumination from an LED stripe [36].…”

Section: ) Aerial Robotsmentioning

confidence: 99%

“…In wilderness SAR (WiSAR) operations, the literature often includes SAR in mountains [62], underground mines and caves [64], [65], [71], and forests and other rural or remote environments [43], [72], [73]. The need for heterogeneous MRS in WiSAR environments has been made evident during the DARPA SubT challenge [36], [37].…”

Section: Wilderness Sarmentioning

confidence: 99%

“…In the DARPA SubT challenge, the rules allow only one human to communicate with the multi-robot team. A hybrid autonomous/semi-autonomous model has been proposed in [36], with UAVs being fully autonomous and the larger UGVs could be directly operated in adverse conditions, but are semi-autonomous otherwise.…”

Section: Shared Autonomy and Human-swarm Interactionmentioning

confidence: 99%

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Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

et al. 2020

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Search and rescue (SAR) operations can take significant advantage from supporting autonomous or teleoperated robots and multi-robot systems. These can aid in mapping and situational assessment, monitoring and surveillance, establishing communication networks, or searching for victims. This paper provides a review of multi-robot systems supporting SAR operations, with system-level considerations and focusing on the algorithmic perspectives for multi-robot coordination and perception. This is, to the best of our knowledge, the first survey paper to cover (i) heterogeneous SAR robots in different environments, (ii) active perception in multi-robot systems, while (iii) giving two complementary points of view from the multi-agent perception and control perspectives. We also discuss the most significant open research questions: shared autonomy, sim-to-real transferability of existing methods, awareness of victims' conditions, coordination and interoperability in heterogeneous multi-robot systems, and active perception. The different topics in the survey are put in the context of the different challenges and constraints that various types of robots (ground, aerial, surface, or underwater) encounter in different SAR environments (maritime, urban, wilderness, or other post-disaster scenarios). The objective of this survey is to serve as an entry point to the various aspects of multi-robot SAR systems to researchers in both the machine learning and control fields by giving a global overview of the main approaches being taken in the SAR robotics area.

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Section: International Projects and Competitionsmentioning

confidence: 99%

Section: ) Ground Robotsmentioning

confidence: 99%

Section: ) Aerial Robotsmentioning

confidence: 99%

Section: Wilderness Sarmentioning

confidence: 99%

Section: Shared Autonomy and Human-swarm Interactionmentioning

confidence: 99%

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Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

et al. 2020

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An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments

Krátký

Petráček

Báča

et al. 2021

Journal of Field Robotics

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This paper introduces an autonomous system employing multirotor unmanned aerial vehicles for fast 3D exploration and inspection of vast, unknown, dynamic, and complex environments containing large open spaces as well as narrow passages.The system exploits the advantage of small-size aerial vehicles capable of carrying all necessary sensors and computational power while providing full autonomy and mobility in constrained unknown environments. Particular emphasis is put on the robustness of the algorithms with respect to challenging real-world conditions and the real-time performance of all algorithms that enable fast reactions to changes in environment and thus also provide effective use of limited flight time. The system F I G U R E 1 The proposed system operating in a simulated disastrous scenario during the Urban Circuit of the Subterranean Challenge. The figure shows the unmanned aerial vehicle platform as a part of a multirobot team deployed within open spaces (a) and confined corridors (b) of the unfinished nuclear power plant in the

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Development of a search and rescue robot system for the underground building environment

Wang

Ding

et al. 2023

Journal of Field Robotics

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The underground building environment plays an increasingly important role in the construction of modern cities. To deal with possible fires, collapses, and so on, in underground building space, it is a general trend to use rescue robots to replace humans. This paper proposes a dual-robot system solution for search and rescue in an underground building environment. To speed up rescue and search, the two robots focus on different tasks. However, the environmental perception information and location of them are shared. The primary robot is used to quickly explore the environment in a wide range, identify objects, cross difficult obstacles, and so on.The secondary robot is responsible for grabbing, carrying items, clearing obstacles, and so on. In response to the difficulty of rescue caused by unknown scenes, the Lidar, inertial measurement unit and multiview cameras are integrated for large-scale 3D environment mapping. The depth camera detects the objects to be rescued and locate them on the map. A six-degree-of-freedom manipulator with a two-finger gripper is equipped to open doors and clear roadblocks during the rescue. To solve the problem of severe signal attenuation caused by reinforced concrete walls, corners and long-distance transmission, a wireless multinode networking solution is adopted. In the case of a weak wireless signal, the primary robot uses autonomous exploration for environmental perception. Experimental results show the robots' system has high reliability in over-the-horizon maneuvering, teleoperation of the door opening and grasping, object searching, and environmental perception, and can be well applied to underground search and rescue.

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DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments

Cited by 75 publications

References 23 publications

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

Collaborative Multi-Robot Search and Rescue: Planning, Coordination, Perception, and Active Vision

An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments

Development of a search and rescue robot system for the underground building environment

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