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- W4313484575 abstract "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." @default.
- W4313484575 created "2023-01-06" @default.
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- W4313484575 date "2023-01-02" @default.
- W4313484575 modified "2023-09-26" @default.
- W4313484575 title "Flexible Supervised Autonomy for Exploration in Subterranean Environments" @default.
- W4313484575 doi "https://doi.org/10.48550/arxiv.2301.00771" @default.
- W4313484575 hasPublicationYear "2023" @default.
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