Mine Tunnel Exploration using Multiple Quadrupedal Robots
Autor: | Fernando Cladera, Alex Zhou, Avraham Cohen, Camillo J. Taylor, James Laney, Vijay Kumar, Laura Jarin-Lipschitz, Ian D. Miller, Elijah S. Lee, Shreyas S. Shivakumar, Adarsh Kulkarni, Akhilesh Bhat, Neil Rodrigues, Anthony Cowley |
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Jazyk: | angličtina |
Rok vydání: | 2019 |
Předmět: |
FOS: Computer and information sciences
050210 logistics & transportation 0209 industrial biotechnology Control and Optimization Traverse Computer science Mechanical Engineering Distributed computing 05 social sciences Biomedical Engineering Terrain 02 engineering and technology Computer Science Applications Human-Computer Interaction Computer Science - Robotics 020901 industrial engineering & automation Artificial Intelligence Control and Systems Engineering Quadrupedalism GNSS applications 0502 economics and business Robot Computer Vision and Pattern Recognition Robotics (cs.RO) |
Popis: | Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further exacerbated by the need to minimize human intervention for practical applications. While legged robots have the ability to traverse extremely challenging terrain, they also engender new challenges for planning, estimation, and control. In this work, we describe a fully autonomous system for multi-robot mine exploration and mapping using legged quadrupeds, as well as a distributed database mesh networking system for reporting data. In addition, we show results from the DARPA Subterranean Challenge (SubT) Tunnel Circuit demonstrating localization of artifacts after traversals of hundreds of meters. These experiments describe fully autonomous exploration of an unknown Global Navigation Satellite System (GNSS)-denied environment undertaken by legged robots. Accompanying video: https://www.youtube.com/watch?v=jGXuOCHKC8E |
Databáze: | OpenAIRE |
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