Autonomous Spot: Long-Range Exploration of Extreme Environments
Автор: TeamCoSTAR
Загружено: 2020-11-04
Просмотров: 14232
This work presents one of the first efforts to endow the Boston Dynamics Spot robot with high-level autonomy for large-scale exploration of subterranean and extreme environments, which was part of the solution that won 1st place in Urban Circuit of the 2020 DARPA Subterranean(SubT) Challenge. We briefly discuss our NeBula (Networked Belief-aware Perceptual Autonomy) architecture and explain some of the key elements of integrating comprehensive autonomy with the Spot robot. We describe the behaviors and overall performance of the system in a complex, autonomous mission during the SubT Challenge.
Citation:
A. Bouman∗, M.F. Ginting∗, N. Alatur∗, Matteo Palieri, David Fan, Thomas Touma, Torkom Pailevanian, Sung Kim, Kyohei Otsu, Joel
Burdick, and Ali Agha-Mohammadi. Autonomous Spot: Long-Range
Autonomous Exploration of Extreme Environments with Legged Locomotion. In 2020 IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS). IEEE, 2020.
Paper:
https://arxiv.org/abs/2010.09259

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