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Review
. 2022 May 25;7(66):eabp9742.
doi: 10.1126/scirobotics.abp9742. Epub 2022 May 25.

CERBERUS in the DARPA Subterranean Challenge

Marco Tranzatto  1 , Takahiro Miki  1 , Mihir Dharmadhikari  2 , Lukas Bernreiter  3 , Mihir Kulkarni  2 , Frank Mascarich  4 , Olov Andersson  3 , Shehryar Khattak  1 , Marco Hutter  1 , Roland Siegwart  3 , Kostas Alexis  2
Affiliations
Review

CERBERUS in the DARPA Subterranean Challenge

Marco Tranzatto et al. Sci Robot. .

Abstract

This article presents the core technologies and deployment strategies of Team CERBERUS that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a robotic system-of-systems involving walking and flying robots presenting resilient autonomy, as well as mapping and navigation capabilities to explore complex underground environments.

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