CERBERUS in the DARPA Subterranean Challenge.

Marco Tranzatto Takahiro Miki Mihir Dharmadhikari Lukas Bernreiter Mihir Kulkarni Frank Mascarich Olov Andersson Shehryar Khattak Marco Hutter Roland Siegwart Kostas Alexis

Published in: Science robotics (2022)

This article presents the core technologies and deployment strategies of Team CERBERUS that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a robotic system-of-systems involving walking and flying robots presenting resilient autonomy, as well as mapping and navigation capabilities to explore complex underground environments.

Keyphrases

high resolution
palliative care
minimally invasive
quality improvement
high density
robot assisted
lower limb