NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge

A. Agha, J. Tordesillas Torres, et al.

Field Robotics Vol. 2, pp. 1432 - 1506

Summary:

This paper presents and discusses algorithms, hardware, and software architecture developed by the TEAM CoSTAR (Collaborative SubTerranean Autonomous Robots), competing in the DARPA Subterranean Challenge. Specifically, it presents the techniques utilized within the Tunnel (2019) and Urban (2020) competitions, where CoSTAR achieved second and first place, respectively. We also discuss CoSTAR's demonstrations in Martian-analog surface and subsurface (lava tubes) exploration. The paper introduces our autonomy solution, referred to as NeBula (Networked Belief-aware Perceptual Autonomy). NeBula is an uncertainty-aware framework that aims at enabling resilient and modular autonomy solutions by performing reasoning and decision making in the belief space (space of probability distributions over the robot and world states). We discuss various components of the NeBula framework, including (i) geometric and semantic environment mapping, (ii) a multi-modal positioning system, (iii) traversability analysis and local planning, (iv) global motion planning and exploration behavior, (v) risk-aware mission planning, (vi) networking and decentralized reasoning, and (vii) learning-enabled adaptation. We discuss the performance of NeBula on several robot types (e.g., wheeled, legged, flying), in various environments. We discuss the specific results and lessons learned from fielding this solution in the challenging courses of the DARPA Subterranean Challenge competition.

Spanish layman's summary:

El artículo detalla el éxito del Team CoSTAR en el DARPA Subterranean Challenge usando NeBula, un sistema de autonomía consciente de la incertidumbre. Cubre coordinación multi-robot y lecciones de uso con robots terrestres y aéreos en entornos extremos.

English layman's summary:

This paper details Team CoSTAR’s success in the DARPA Subterranean Challenge using NeBula, an uncertainty-aware autonomy framework. It covers multi-robot coordination, risk-aware planning, and lessons learned from deploying wheeled, legged, and flying robots in extreme environments.

Keywords: aerial robotics, exploration, extreme environments, GPS-denied operation, mapping, motion planning, subterranean robotics, legged robots, teleoperation, wheeled robots

DOI reference: https://doi.org/10.55417/fr.2022047

Published on paper: 2022.

Published on-line: July 2022.

Citation:
A. Agha, J. Tordesillas Torres, et al., "NeBula: TEAM CoSTAR's Robotic Autonomy Solution that Won Phase II of DARPA Subterranean Challenge", Field Robotics, Vol. 2, pp. 1432 - 1506, 2022. [Online: July 2022] doi: 10.55417/fr.2022047