1932

Abstract

The Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge represented a multiyear (2018–2021), competition-based initiative to inspire and shape the future of field robotics, specifically in advancing integrated technologies for operating in complex underground environments. Bringing together robotics researchers and innovators from around the world to compete in physical and simulated contests, it spotlighted significant opportunities to incentivize and extract high-value technical results and insights to inform future advances. This article captures and quantifies these results, extracts relevant insights, and offers lessons learned and recommendations for further work.

Loading

Article metrics loading...

/content/journals/10.1146/annurev-control-062722-100728
2023-05-03
2024-05-03
Loading full text...

Full text loading...

/deliver/fulltext/control/6/1/annurev-control-062722-100728.html?itemId=/content/journals/10.1146/annurev-control-062722-100728&mimeType=html&fmt=ahah

Literature Cited

  1. 1.
    Natl. Mine Health Saf. Acad 2013. Advanced mine rescue training: coal mines Instr. Guide 7, Natl. Mine Health Saf. Acad., Mine Saf. Health Adm., US Dep. Labor Beaver, WV:
  2. 2.
    Fed. Emerg. Manag. Agency 2006. National Urban Search and Rescue (US&R) Response System: rescue field operations guide Doc. US&R-23-FG, Fed. Emerg. Manag. Agency Washington, DC:
  3. 3.
    Mirza A 2018. Manual of U.S. Cave Rescue Techniques Huntsville, AL: Natl. Speleol. Soc., 3rd ed.., v. 2.1
  4. 4.
    US Dep. Army 2019. Subterranean operations Army Tech. Publ. 3-21.51, US Dep. Army Washington, DC:
  5. 5.
    Def. Adv. Proj. Res. Agency (DARPA) 2021. Competition rules: Final Event. Doc., Tactical Technol. Off., DARPA Arlington, VA: https://www.subtchallenge.com/resources/SubT_Challenge_Finals_Rules.pdf
  6. 6.
    Def. Adv. Proj. Res. Agency (DARPA) 2021. Interface control document: Systems Competition Final Event. Doc., Tactical Technol. Off., DARPA Arlington, VA: https://www.subtchallenge.com/resources/SubT_Challenge_Finals_ICD.pdf
  7. 7.
    Def. Adv. Proj. Res. Agency (DARPA), SubT Chall. Teams 2022. subt_resources. GitHub https://github.com/subtchallenge/subt_resources
    [Google Scholar]
  8. 8.
    Tranzatto M, Miki T, Dharmadhikari M, Bernreiter L, Kulkarni M et al. 2022. CERBERUS in the DARPA Subterranean Challenge. Sci. Robot. 7:eabp9742
    [Google Scholar]
  9. 9.
    Hudson N, Talbot F, Cox M, Williams J, Hines T et al. 2021. Heterogeneous ground and air platforms, homogeneous sensing: Team CSIRO Data61’s approach to the DARPA Subterranean Challenge. Field Robot. 2:595–636
    [Google Scholar]
  10. 10.
    Ohradzansky MT, Rush ER, Riley DG, Mills AB, Ahmad S et al. 2021. Multi-agent autonomy: advancements and challenges in subterranean exploration. Field Robot. 2:1068–104
    [Google Scholar]
  11. 11.
    Agha A, Otsu K, Morrell B, Fan DD, Thakker R et al. 2021. NeBula: TEAM CoSTAR's robotic autonomy solution that won phase II of DARPA Subterranean Challenge. Field Robot. 2:1432–506
    [Google Scholar]
  12. 12.
    Rouček T, Pecka M, Čížek P, Petříček T, Bayer J et al. 2021. System for multi-robotic exploration of underground environments: CTU-CRAS-NORLAB in the DARPA Subterranean Challenge. Field Robot. 2:1779–818
    [Google Scholar]
  13. 13.
    Miki T, Lee J, Hwangbo J, Wellhausen L, Koltun V, Hutter M. 2022. Learning robust perceptive locomotion for quadrupedal robots in the wild. Sci. Robot. 7:eabk2822
    [Google Scholar]
  14. 14.
    Báča T, Petrlík M, Vrba M, Spurný V, Pěnička R et al. 2021. The MRS UAV system: pushing the frontiers of reproducible research, real-world deployment, and education with autonomous unmanned aerial vehicles. J. Intell. Robot. Syst. 102:26
    [Google Scholar]
  15. 15.
    Bateman S, Harlow K, Heckman C. 2020. Better together: online probabilistic clique change detection in 3D landmark-based maps. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)4878–85. Piscataway, NJ: IEEE
    [Google Scholar]
  16. 16.
    Khattak S, Nguyen H, Mascarich F, Dang T, Alexis K 2020. Complementary multi-modal sensor fusion for resilient robot pose estimation in subterranean environments. 2020 International Conference on Unmanned Aircraft Systems (ICUAS)1024–29. Piscataway, NJ: IEEE
    [Google Scholar]
  17. 17.
    Hines T, Stepanas K, Talbot F, Sa I, Lewis J et al. 2021. Virtual surfaces and attitude aware planning and behaviours for negative obstacle navigation. IEEE Robot. Autom. Lett. 6:4048–55
    [Google Scholar]
  18. 18.
    Bouman A, Ginting M, Alatur N, Palieri M, Fan D et al. 2020. Autonomous Spot: long-range autonomous exploration of extreme environments with legged locomotion. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)2518–25. Piscataway, NJ: IEEE
    [Google Scholar]
/content/journals/10.1146/annurev-control-062722-100728
Loading
/content/journals/10.1146/annurev-control-062722-100728
Loading

Data & Media loading...

  • Article Type: Review Article
This is a required field
Please enter a valid email address
Approval was a Success
Invalid data
An Error Occurred
Approval was partially successful, following selected items could not be processed due to error