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 …
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task in applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of sampling-based motion planners, …
We present a strategy for simulation-to-real transfer, which builds on recent advances in robot skill decomposition. Rather than focusing on minimizing the simulation-reality gap, we learn a diverse set of skills and their variations, and embed those …
Representing the environment is a fundamental task in enabling robots to act autonomously in unknown environments. In this work, we present confidence-rich mapping (CRM), a new algorithm for spatial grid-based mapping of the 3D environment. CRM …