Flexible Supervised Autonomy for Exploration in Subterranean Environments
| Autor: | Biggie, Harel, Rush, Eugene R., Riley, Danny G., Ahmad, Shakeeb, Ohradzansky, Michael T., Harlow, Kyle, Miles, Michael J., Torres, Daniel, McGuire, Steve, Frew, Eric W., Heckman, Christoffer, Humbert, J. Sean |
|---|---|
| Rok vydání: | 2023 |
| Předmět: | |
| Druh dokumentu: | Working Paper |
| DOI: | 10.55417/fr.2023004 |
| Popis: | While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean (SubT) Challenge aimed to fast track the development of autonomous exploration systems by evaluating their performance in real-world underground search-and-rescue scenarios. Subterranean environments present a plethora of challenges for robotic systems, such as limited communications, complex topology, visually-degraded sensing, and harsh terrain. The presented solution enables long-term autonomy with minimal human supervision by combining a powerful and independent single-agent autonomy stack, with higher level mission management operating over a flexible mesh network. The autonomy suite deployed on quadruped and wheeled robots was fully independent, freeing the human supervision to loosely supervise the mission and make high-impact strategic decisions. We also discuss lessons learned from fielding our system at the SubT Final Event, relating to vehicle versatility, system adaptability, and re-configurable communications. Comment: Field Robotics special issue: DARPA Subterranean Challenge, Advancement and Lessons Learned from the Finals |
| Databáze: | arXiv |
| Externí odkaz: |
|