May 2019

DARPA Subterranean Challenge (SubT) Case Study

SubT Challenge Integration Exercise (STIX)

DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments

Tom´aˇs Rouˇcek1(B), Martin Pecka1, Petr ˇC´ıˇzek1, Tom´aˇs Petˇr´ıˇcek1, Jan Bayer1,

Vojtˇech ˇSalansk´y1, Daniel Heˇrt1, Matˇej Petrl´ık1, Tom´aˇs B´aˇca1,

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Vojˇech Spurn´y1, Fran¸cois Pomerleau2, Vladim´ır Kubelka2, Jan Faigl1,

Karel Zimmermann1, Martin Saska1, Tom´aˇs Svoboda1, and Tom´aˇs Krajn´ık1

1 Faculty of Electrical Engineering, Czech Technical University, Prague, Czechia

rouceto1@fel.cvut.cz

2 Universit´e Laval, Quebec City, Canada

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DARPA Subterranean Challenge

Competitors Day

SubT Challenge Overview

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Distribution Statement A. Approved for public release. Distribution is unlimited.

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Robots autonomously navigate underground in DARPA challenge

28 February 2020, by Andrew Good

Broad Agency Announcement

DARPA Subterranean (SubT) Challenge

Tactical Technology Office (TTO)

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HR001118S0016

January 25, 2018

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Communications Coverage in

Unknown Underground

Environments

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Michael Tatum

CMU-RI-TR-20-19

May 2020

The Robotics Institute

Carnegie Mellon University

Pittsburgh, Pennsylvania 15213

Thesis Committee:

Matthew Travers, Chair

Sebastian Scherer

Micah Corah

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Online 3D Frontier-Based UGV and UAV Exploration Using Direct Point Cloud Visibility

Jason Williams,⇤ Shu Jiang,† Matthew O’Brien,† Glenn Wagner,‡ Emili Hernandez,⇤

Mark Cox,⇤ Alex Pitt,⇤ Ron Arkin,† Nicolas Hudson⇤

Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge

Nicolas Hudson, Fletcher Talbot, Mark Cox, Jason Williams, Thomas Hines, Alex Pitt,

Brett Wood, Dennis Frousheger, Katrina Lo Surdo, Thomas Molnar, Ryan Steindl,

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Matt Wildie, Inkyu Sa, Navinda Kottege,

Kazys Stepanas, Emili Hernandez,

Gavin Catt, William Docherty, Brendan Tidd, Benjamin Tam, Simon Murrell,

Mitchell Bessell, Lauren Hanson, Lachlan Tychsen-Smith, Hajime Suzuki, Leslie Overs

Robotics and Autonomous Systems Group

CSIRO, Pullenvale, Queensland, Australia

Farid Kendoul, Glenn Wagner, Duncan Palmer, Peter Milani

Emesent, Milton, Queensland, Australia

Matthew O'Brien, Shu Jiang, Shengkang Chen, Ronald C. Arkin

Georgia Tech, Atlanta, Georgia, USA

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