An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments
This paper presents an appendix to the original NeBula autonomy solution developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), participating in the DARPA Subterranean Challenge. Specifically, this paper presents extensions to NeBula's hardware, software, and algorithmic components that focus on increasing the range and scale of the exploration environment. From the algorithmic perspective, we discuss the following extensions to the original NeBula framework: (i) large-scale geometric and semantic environment mapping; (ii) an adaptive positioning system; (iii) probabilistic traversability analysis and local planning; (iv) large-scale POMDP-based global motion planning and exploration behavior; (v) large-scale networking and decentralized reasoning; (vi) communication-aware mission planning; and (vii) multi-modal ground-aerial exploration solutions. We demonstrate the application and deployment of the presented systems and solutions in various large-scale underground environments, including limestone mine exploration scenarios as well as deployment in the DARPA Subterranean challenge.
Angel Santamaria-Navarro、Brett Lopez、Boseong Kim、Chanyoung Jung、Mamoru Sobue、Oriana Claudia Peltzer、Joshua Ott、Robert Trybula、Thomas Touma、Marcel Kaufmann、Tiago Stegun Vaquero、Torkom Pailevanian、Matteo Palieri、Yun Chang、Andrzej Reinke、Matthew Anderson、Frederik E. T. Sch?ller、Patrick Spieler、Lillian M. Clark、Avak Archanian、Kenny Chen、Hovhannes Melikyan、Anushri Dixit、Harrison Delecki、Daniel Pastor、Barry Ridge、Nicolas Marchal、Jose Uribe、Sharmita Dey、Kamak Ebadi、Kyle Coble、Alexander Nikitas Dimopoulos、Vivek Thangavelu、Vivek S. Varadharajan、Nicholas Palomo、Antoni Rosinol、Arghya Chatterjee、Christoforos Kanellakis、Bjorn Lindqvist、Micah Corah、Kyle Strickland、Ryan Stonebraker、Michael Milano、Christopher E. Denniston、Sami Sahnoune、Thomas Claudet、Seungwook Lee、Gautam Salhotra、Edward Terry、Rithvik Musuku、Robin Schmid、Tony Tran、Ara Kourchians、Justin Schachter、Hector Azpurua、Levi Resende、Arash Kalantari、Jeremy Nash、Josh Lee、Christopher Patterson、Jennifer G. Blank、Kartik Patath、Yuki Kubo、Ryan Alimo、Yasin Almalioglu、Aaron Curtis、Jacqueline Sly、Tesla Wells、Nhut T. Ho、Mykel Kochenderfer、Giovanni Beltrame、George Nikolakopoulos、David Shim、Luca Carlone、Joel Burdick、Ali Agha、Kyohei Otsu、Benjamin Morrell、David D. Fan、Sung-Kyun Kim、Muhammad Fadhil Ginting、Xianmei Lei、Jeffrey Edlund、Seyed Fakoorian、Amanda Bouman、Fernando Chavez、Taeyeon Kim、Gustavo J. Correa、Maira Saboia
自动化技术、自动化技术设备计算技术、计算机技术矿业工程理论与方法论
Angel Santamaria-Navarro,Brett Lopez,Boseong Kim,Chanyoung Jung,Mamoru Sobue,Oriana Claudia Peltzer,Joshua Ott,Robert Trybula,Thomas Touma,Marcel Kaufmann,Tiago Stegun Vaquero,Torkom Pailevanian,Matteo Palieri,Yun Chang,Andrzej Reinke,Matthew Anderson,Frederik E. T. Sch?ller,Patrick Spieler,Lillian M. Clark,Avak Archanian,Kenny Chen,Hovhannes Melikyan,Anushri Dixit,Harrison Delecki,Daniel Pastor,Barry Ridge,Nicolas Marchal,Jose Uribe,Sharmita Dey,Kamak Ebadi,Kyle Coble,Alexander Nikitas Dimopoulos,Vivek Thangavelu,Vivek S. Varadharajan,Nicholas Palomo,Antoni Rosinol,Arghya Chatterjee,Christoforos Kanellakis,Bjorn Lindqvist,Micah Corah,Kyle Strickland,Ryan Stonebraker,Michael Milano,Christopher E. Denniston,Sami Sahnoune,Thomas Claudet,Seungwook Lee,Gautam Salhotra,Edward Terry,Rithvik Musuku,Robin Schmid,Tony Tran,Ara Kourchians,Justin Schachter,Hector Azpurua,Levi Resende,Arash Kalantari,Jeremy Nash,Josh Lee,Christopher Patterson,Jennifer G. Blank,Kartik Patath,Yuki Kubo,Ryan Alimo,Yasin Almalioglu,Aaron Curtis,Jacqueline Sly,Tesla Wells,Nhut T. Ho,Mykel Kochenderfer,Giovanni Beltrame,George Nikolakopoulos,David Shim,Luca Carlone,Joel Burdick,Ali Agha,Kyohei Otsu,Benjamin Morrell,David D. Fan,Sung-Kyun Kim,Muhammad Fadhil Ginting,Xianmei Lei,Jeffrey Edlund,Seyed Fakoorian,Amanda Bouman,Fernando Chavez,Taeyeon Kim,Gustavo J. Correa,Maira Saboia.An Addendum to NeBula: Towards Extending TEAM CoSTAR's Solution to Larger Scale Environments[EB/OL].(2025-04-18)[2025-05-04].https://arxiv.org/abs/2504.13461.点此复制
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