# System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge

arXiv: https://arxiv.org/abs/2110.05911 · HTML: https://mlsanity.com/paper/2110.05911/

## Key facts

- Cited by 5 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 12 Oct 2021.

## Built on by (most cited first, 5 of 5)

- [Federated Reinforcement Learning for Collective Navigation of Robotic Swarms](https://mlsanity.com/paper/2202.01141/) (2022)
- [STAGE: Scalable and Traversability-Aware Graph based Exploration Planner for Dynamically Varying Environments](https://mlsanity.com/paper/2402.02566/) (2024)
- [Copiloting Autonomous Multi-Robot Missions: A Game-inspired Supervisory Control Interface](https://mlsanity.com/paper/2204.06647/) (2022)
- [Virtual Reality via Object Pose Estimation and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities](https://mlsanity.com/paper/2210.09678/) (2022)
- [Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration](https://mlsanity.com/paper/2304.14520/) (2023)

## Abstract (arXiv)

We present a field report of CTU-CRAS-NORLAB team from the Subterranean Challenge (SubT) organised by the Defense Advanced Research Projects Agency (DARPA). The contest seeks to advance technologies that would improve the safety and efficiency of search-and-rescue operations in GPS-denied environments. During the contest rounds, teams of mobile robots have to find specific objects while operating in environments with limited radio communication, e.g. mining tunnels, underground stations or natural caverns. We present a heterogeneous exploration robotic system of the CTU-CRAS-NORLAB team, which achieved the third rank at the SubT Tunnel and Urban Circuit rounds and surpassed the performance of all other non-DARPA-funded teams. The field report describes the team's hardware, sensors, algorithms and strategies, and discusses the lessons learned by participating at the DARPA SubT contest.