Here are the recordings of the robots of the CTU-CRAS-Norlab team during the Urban circuit of the DARPA Subterranean Challenge. The recordings are in rosbag format. There are recordings from four robots (ctu, dfki, husky and tno) over four courses (alpha 1, alpha 2, beta 1 and beta 2). Only the recording of the dfki robot in the beta 2 course is missing.
| Course | Robot | Link |
|---|---|---|
| alpha 1 | ctu | ctu alpha 1 |
| alpha 1 | dfki | dfki alpha 1 |
| alpha 1 | husky | husky alpha 1 |
| alpha 1 | tno | tno alpha 1 |
| alpha 2 | ctu | ctu alpha 2 |
| alpha 2 | dfki | dfki alpha 2 |
| alpha 2 | husky | husky alpha 2 |
| alpha 2 | tno | tno alpha 2 |
| beta 1 | ctu | ctu beta 1 |
| beta 1 | dfki | dfki beta 1 |
| beta 1 | husky | husky beta 1 |
| beta 1 | tno | tno beta 1 |
| beta 2 | ctu | ctu beta 2 |
| beta 2 | husky | husky beta 2 |
| beta 2 | tno | tno beta 2 |
References
- Ebadi, K., Bernreiter, L., Biggie, H., Catt, G., Chang, Y., Chatterjee, A., Denniston, C. E., Deschênes, S.-P., Harlow, K., Khattak, S., Nogueira, L., Palieri, M., Petráček, P., Petrlík, M., Reinke, A., Krátký, V., Zhao, S., Agha-Mohammadi, A.-A., Alexis, K., … Carlone, L. (2023). Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge. IEEE Transactions on Robotics (T-RO). https://doi.org/10.1109/TRO.2023.3323938
Publisher Bibtex source - Kubelka, V., Vaidis, M., & Pomerleau, F. (2022). Gravity-constrained point cloud registration. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), 4873–4879. https://doi.org/10.1109/IROS47612.2022.9981916
Publisher Bibtex source - Rouček, T., Pecka, M., Čížek, P., Petříček, T., Bayer, J., Šalanský, V., Azayev, T., Heřt, D., Petrlík, M., Báča, T., Spurný, V., Krátký, V., Petráček, P., Baril, D., Vaidis, M., Kubelka, V., Pomerleau, F., Faigl, J., Zimmermann, K., … Krajník, T. (2022). System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge. Field Robotics, 2(1), 1779–1818. https://doi.org/10.55417/fr.2022055
Publisher Bibtex source - Rouček, T., Pecka, M., Cizek, P., Petricek, T., Bayer, J., Salansky, V., Hert, D., Petrlik, M., Baca, T., Spurny, V., Pomerleau, F., Kubelka, V., Faigl, J., Zimmermann, K., Saska, M., Svoboda, T., & Krajnik, T. (2019). DARPA Subterranean Challenge: Multi-robotic exploration of underground environments. Proceeding of the Modelling and Simulation for Autonomous System Workshop (MESAS).
Bibtex source