Team CEBERUS has published a collection of papers that present in detail how our robotic system-of-systems worked. In our results we built upon years of work across our groups. The publications presented below represent the "CERBERUS Core", selected papers outlining some of the most notable components of our work.
Robots & Control: ANYmal
Robots & Control: Aerial Robots
Perception: Onboard Localization and Mapping
Perception: Volumetric Mapping
Perception: Terrain Mapping
Perception: Multi-Robot Mapping
Perception: Artifacts Detection and Localization
Path Planning: Autonomous Exploration
Path Planning: Local Planning
Systems Papers:
- ANYmal robot: M. Hutter, C. Gehring, D. Jud, A. Lauber, C.D. Bellicoso, V. Tsounis, J. Hwangbo, K. Bodie, P. Fankhauser, M. Bloesch, R. Diethelm, S. Bachmann, A. Melzer, and M. Hoepflinger,”Anymal-a highly mobile and dynamic quadrupedal robot.,” In 2016 IEEE/RSJ international conference on intelligent robots and systems (IROS) (pp. 38-44). IEEE.
- ANYmal C robot - ANYbotics: https://www.anybotics.com/
- ANYmal locomotion controller: T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter, “Learning robust perceptive locomotion for quadrupedal robots in the wild,” Science Robotics, 2022
Robots & Control: Aerial Robots
- Resilient Micro Flyer: P. De Petris, H. Nguyen, Mi. Kulkarni, F. Mascarich, and K. Alexis, "Resilient Collision-tolerant Navigation in Confined Environments," IEEE International Conference on Robotics and Automation (ICRA), May 30-June 5, 2021, Xi'an, China
- Aerial Scouts: T. Dang, F. Mascarich, S. Khattak, H. Nguyen, N. Khedekar, C. Papachristos, and K. Alexis, "Field-hardened Robotic Autonomy for Subterranean Exploration," Conference on Field and Service Robotics (FSR), 2019, Aug. 29-31, Tokyo, Japan
- Model Predictive Controller: Mina Kamel, Thomas Stastny, Kostas Alexis, Roland Siegwart, "Model Predictive Control for Trajectory Tracking of Unmanned Aerial Vehicles Using ROS," Springer Book on Robot Operating System (ROS) – The Complete Reference (Volume 2)
Perception: Onboard Localization and Mapping
- CompSLAM (all robots): S. Khattak, D. H. Nguyen, F. Mascarich, T. Dang, and K. Alexis, "Complementary Multi–Modal Sensor Fusion for Resilient Robot Pose Estimation in Subterranean Environments," International Conference on Unmanned Aircraft Systems (ICUAS), Athens, Greece, 2020
- Thermal-Inertial Odometry in CompSLAM: S. Khattak, F. Mascarich, T. Dang, C. Papachristos, K. Alexis, "Robust Thermal-Inertial Localization for Aerial Robots: A Case for Direct Methods," International Conference on Unmanned Aircraft Systems (ICUAS), June 11-14, 2019, Atlanta, GA, USA
- Visual-Inertial Odometry in CompSLAM: M. Bloesch, S. Omari, M. Hutter, and R. Siegwart, “Robust visual inertial odometry using a direct EKF-based approach,” In 2015 IEEE/RSJ international conference on intelligent robots and systems (IROS) (pp. 298-304). IEEE.
- Leg Odometry: M. Bloesch, M. Burri, H. Sommer, R. Siegwart, and M. Hutter, "The two-state implicit filter recursive estimation for mobile robots," IEEE Robotics and Automation Letters 3, no. 1 (2017): 573-580.
Perception: Volumetric Mapping
- Voxblox (all robots): H. Oleynikova, Z. Taylor, M. Fehr, R. Siegwart, and J. Nieto, “Voxblox: Incremental 3d euclidean signed distance fields for on-board mav planning,” In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 1366-1373). IEEE.
- Voxgraph (only Kolibri): V. Reijgwart, A. Millane, H. Oleynikova, R. Siegwart, C. Cadena, and J. Nieto, “Voxgraph: Globally consistent, volumetric mapping using signed distance function submaps,” IEEE Robotics and Automation Letters. 2019 Nov 18;5(1):227-34.
Perception: Terrain Mapping
- Elevation Mapping on GPU: T. Miki, L. Wellhausen, R. Grandia, F. Jenelten, T. Homberger, and M .Hutter, "Elevation Mapping for Locomotion and Navigation using GPU", arXiv preprint arXiv:2204.12876.
- Elevation Mapping: P. Fankhauser, M. Bloesch, C. Gehring, M. Hutter, M. and R. Siegwart, “Robot-centric elevation mapping with uncertainty estimates,” In Mobile Service Robotics (pp. 433-440).
Perception: Multi-Robot Mapping
- Multi-robot Multi-Modal Mapping (M3RM) framework (ANYmals): T. Schneider, M. Dymczyk, M. Fehr, K. Egger, S. Lynen, I. Gilitschenski, and R. Siegwart. "maplab: An open framework for research in visual-inertial mapping and localization," IEEE Robotics and Automation Letters 3, no. 3 (2018): 1418-1425.
Perception: Artifacts Detection and Localization
- Artifacts: T. Dang, F. Mascarich, S. Khattak, D. H. Nguyen, N. Khedekar, S. Hirsh, R. Reinhart, C. Papachristos, and K. Alexis, "Autonomous Search for Underground Mine Rescue Using Aerial Robots," IEEE Aerospace Conference (AeroConf) 2019, Yellowstone Conference, Big Sky, Montana, Mar 7-14, 2020
Path Planning: Autonomous Exploration
- GBPlanner 2 (all robots but Kolibri): M. Kulkarni, M. Dharmadhikari, M. Tranzatto, S. Zimmermann, V. Reijgwart, P. De Petris, H. Nguyen, N. Khedekar, C. Papachristos, L. Ott, R. Siegwart, M. Hutter, and K. Alexis, “Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots,” (under review)
- GBPlanner 1 (all robots but Kolibri): T. Dang, M. Tranzatto, S. Khattak, F. Mascarich, K. Alexis, M. Hutter, "Graph-based Subterranean Exploration Path Planning using Aerial and Legged Robots," Journal of Field Robotics, November, 2020, https://doi.org/10.1002/rob.21993, Open-Source Git Repo: https://github.com/unr-arl/gbplanner_ros
- GBPlanner with visual coverage co-optimization (aerial scouts and subset of functionality on ANYmal): M. Dharmadhikari, H. Deshpande, T. Dang, and K. Alexis, "Hypergame-based Adaptive Behavior Path Planning for Combined Exploration and Visual Search," IEEE International Conference on Robotics and Automation (ICRA), May 30-June 5, 2021, Xi'an, China
- Glocal (only Kolibri): L. Schmid, V. Reijgwart, L. Ott, J. Nieto, R. Siegwart, and C. Cadena. "A Unified Approach for Autonomous Volumetric Exploration of Large Scale Environments under Severe Odometry Drift," IEEE Robotics and Automation Letters 6, no. 3 (2021): 4504-4511
Path Planning: Local Planning
- ART Planner: L. Wellhausen, and M. Hutter, “Rough Terrain Navigation for Legged Robots using Reachability Planning and Template Learning,” 2021 IEEE/RSJ International Conference on intelligent robots and systems (IROS 2021), September 27-October 1, 2021, Prague, Czech Republic, Open-Source Git Repo: https://github.com/leggedrobotics/art_planner
- Navigation planning with motion costs (ANYmal): Bowen Yang, Lorenz Wellhausen, Takahiro Miki, Ming Liu, Marco Hutter - “Real-time Optimal Navigation Planning Using Learned Motion Costs”, IEEE International Conference on Robotics and Automation (ICRA), May 30-June 5, 2021, Xi'an, China
Systems Papers:
- CERBERUS in the DARPA SubT Challenge: M. Tranzatto, T. Miki, M. Dharmadhikari, L. Bernreiter, M. Kulkarni, F. Mascarich, O. Andersson, S. Khattak, M Hutter, K. Alexis, "CERBERUS in the DARPA Subterranean Challenge", Science Robotics (2022)
- CERBERUS DARPA SubT Challenge Phase I+II: M. Tranzatto, F. Mascarich, L. Bernreiter, C. Godinho, M. Camurri, S. Khattak, T. Dang, V. Reijgwart, J. Loje, D. Wisth, S. Zimmermann, H. Nguyen, M. Fehr, L. Solanka, R. Buchanan, M. Bjelonic, N. Khedekar, M. Valceschini, F. Jenelten, M. Dharmadhikari, T. Homberger, P. De Petris, L. Wellhausen, M. Kulkarni, T. Miki, S. Hirsch, M. Montenegro, C. Papachristos, F. Tresoldi, J. Carius, G. Valsecchi, J. Lee, K. Meyer, X. Wu, J. Nieto, A. Smith, M. Hutter, R. Siegwart, M. Mueller, Ma. Fallon, K. Alexis, "CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge", Field Robotics (2022)
- ANYmal Industrial Inspection and SAR Applications: C. D. Bellicoso, M. Bjelonic, L. Wellhausen, K. Holtmann, F. Günther, M. Tranzatto, P. Fankhauser, M. Hutter, “Advances in real-world applications for legged robots”, Journal of Field Robotics, December 2018, pp. 1311-1326.
