Teams will develop and demonstrate physical systems to compete in live competitions on physical, representative subterranean courses, and focus on advancing and evaluating novel physical solutions in realistic field environments.
Teams will develop software and algorithms using virtual models of systems, environments, and terrain to compete in simulation-based events, and explore larger-scale runs in simulated environments that explore significantly expanded scenario sizes and durations.
Michigan Technological University/Michigan Tech Research Institute (MTU/MTRI)
Our team views the virtual track of the SubT Challenge as a problem in multi-agent coordination in highly resource-constrained settings. Resources in this case include agent lifespan, sensing ability, communications connectivity, among others. Our solution is inspired by the need to optimize the joint capabilities of the team as well as the utilization of their resources. We are also leveraging the mathematical strengths of our team to develop principled, generalizable, and novel solution strategies.
University of Nevada, Reno
ETH Zurich, Switzerland
University of California, Berkeley
Sierra Nevada Corporation
Team CERBERUS draws conceptual inspiration from the mythological cerberus, the three headed dog protecting the underworld. From a robotics standpoint we are inspired from the potential of combining two very different modalities of locomotion, namely walking and flying, while simultaneously addressing in a unified manner the perception and navigation challenges.Website
Scientific Systems Company, Inc.
Our system is built with the idea of allowing low-Size, Weight, and Power(SWaP) systems to take a key role in the exploration and navigation tasks. We designed our algorithms with low-SWaP systems in mind, which we believe separates our approach from many others.Website
Jet Propulsion Laboratory
California Institute of Technology
Massachusetts Institute of Technology
KAIST, South Korea
Our proposed solution blends several key components that have been in development at JPL, Caltech, and MIT for cave exploration and other applications. (1) For mobility, our hybrid aerial and ground vehicle, the “rollocopter”, arose from the need of having an energy-efficient platform that can also overcome obstacles in extreme environments. (2) Autonomous coordination of a team of robots has been of increasing interest for space and terrestrial missions, and we are leveraging our R&D in networked multi-agent autonomy (swarms) to maintain communications connectivity and explore efficiently and robustly. (3) As part of a multi-robot solution, we will solve distributed simultaneous localization and mapping (SLAM), enabling the system to fuse individual sensor measurements into a joint solution of what the environment looks like and where all the robots are located within it. (4) Because JPL often seeks solutions for locations without GPS (like Mars), we have been developing a magnetic quasi-static (MQS) system to aid in medium-range localization by placing and reading magnetic fields. (5) Communications in underground environments can be especially challenging; JPL has a research program specifically looking at networks and communications waveforms for cave exploration.Website
Commonwealth Scientific and Industrial Research Organisation, Australia
Georgia Institute of Technology
Czech Technological University, Czech Republic
Université Laval, Canada
Carnegie Mellon University
Oregon State University
Our approach is inspired by observing many fragile robot demos and seeing that our solutions for exploration often don't match the mobility and size constraints for an actual deployment. Therefore, our approach pursues the themes of resilience and modularity. Resilience will allow our robots to even perform in cases where the nominal approach fails, and modularity will us to rapidly reconfigure platforms for relevant environments.Website
University of Pennsylvania
In considering the variety of mobility challenges that we would face in the subterranean environment we felt that it would be best to use a team of heterogeneous agents both legged and flying to take advantage of the advantages of both approaches. Legged systems can provide enhanced mobility over rough terrain and extended mission durations while aerial vehicles are well suited for exploring complex 3D environments. Our approach to coordination is inspired in part by economic systems which also involve multiple agents that need to coordinate their actions in the face of uncertainty.
University of Colorado, Boulder
University of Colorado, Denver
Scientific Systems Company, Inc.
Robotika.cz, Czech Republic
Czech University of Life Science, Czech Republic
eXtreme Programming: What is the simplest solution which could possibly work (score at least one point)? Now we think that it could be following the wall there and back again...Website