CERBERUS in the DARPA Subterranean Challenge

Marco Tranzatto, Takahiro Miki, Mihir Dharmadhikari, Lukas Bernreiter, Mihir Kulkarni, Frank Mascarich, Olov Andersson, Shehryar Khattak, Marco Hutter, Roland Siegwart, Kostas Alexis

Abstract: This article presents the core technologies and deployment strategies of Team CERBERUS that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a robotic system-of-syste...