NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM
CoSTAR at the DARPA Subterranean Challenge
- URL: http://arxiv.org/abs/2103.11470v1
- Date: Sun, 21 Mar 2021 19:42:26 GMT
- Title: NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM
CoSTAR at the DARPA Subterranean Challenge
- Authors: Ali Agha, Kyohei Otsu, Benjamin Morrell, David D. Fan, Rohan Thakker,
Angel Santamaria-Navarro, Sung-Kyun Kim, Amanda Bouman, Xianmei Lei, Jeffrey
Edlund, Muhammad Fadhil Ginting, Kamak Ebadi, Matthew Anderson, Torkom
Pailevanian, Edward Terry, Michael Wolf, Andrea Tagliabue, Tiago Stegun
Vaquero, Matteo Palieri, Scott Tepsuporn, Yun Chang, Arash Kalantari,
Fernando Chavez, Brett Lopez, Nobuhiro Funabiki, Gregory Miles, Thomas Touma,
Alessandro Buscicchio, Jesus Tordesillas, Nikhilesh Alatur, Jeremy Nash,
William Walsh, Sunggoo Jung, Hanseob Lee, Christoforos Kanellakis, John Mayo,
Scott Harper, Marcel Kaufmann, Anushri Dixit, Gustavo Correa, Carlyn Lee, Jay
Gao, Gene Merewether, Jairo Maldonado-Contreras, Gautam Salhotra, Maira
Saboia Da Silva, Benjamin Ramtoula, Seyed Fakoorian, Alexander Hatteland,
Taeyeon Kim, Tara Bartlett, Alex Stephens, Leon Kim, Chuck Bergh, Eric
Heiden, Thomas Lew, Abhishek Cauligi, Tristan Heywood, Andrew Kramer, Henry
A. Leopold, Chris Choi, Shreyansh Daftry, Olivier Toupet, Inhwan Wee,
Abhishek Thakur, Micah Feras, Giovanni Beltrame, George Nikolakopoulos, David
Shim, Luca Carlone, Joel Burdick
- Abstract summary: This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR.
The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy).
- Score: 105.27989489105865
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: This paper presents and discusses algorithms, hardware, and software
architecture developed by the TEAM CoSTAR (Collaborative SubTerranean
Autonomous Robots), competing in the DARPA Subterranean Challenge.
Specifically, it presents the techniques utilized within the Tunnel (2019) and
Urban (2020) competitions, where CoSTAR achieved 2nd and 1st place,
respectively. We also discuss CoSTAR's demonstrations in Martian-analog surface
and subsurface (lava tubes) exploration. The paper introduces our autonomy
solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy).
NeBula is an uncertainty-aware framework that aims at enabling resilient and
modular autonomy solutions by performing reasoning and decision making in the
belief space (space of probability distributions over the robot and world
states). We discuss various components of the NeBula framework, including: (i)
geometric and semantic environment mapping; (ii) a multi-modal positioning
system; (iii) traversability analysis and local planning; (iv) global motion
planning and exploration behavior; (i) risk-aware mission planning; (vi)
networking and decentralized reasoning; and (vii) learning-enabled adaptation.
We discuss the performance of NeBula on several robot types (e.g. wheeled,
legged, flying), in various environments. We discuss the specific results and
lessons learned from fielding this solution in the challenging courses of the
DARPA Subterranean Challenge competition.
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