论文标题
自主地点：具有腿部运动的极端环境的远程自主探索
Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion
论文作者
论文摘要
本文是使用波士顿动力学机器人实现大规模和长期自主权的首批努力之一。本文通过探索极端环境，尤其是参与DARPA地下挑战的极端环境的动机，在使腿部机器人系统能够在相关场景中实现现实世界中的复杂任务，从而在实践中的界限推动了实践的界限。特别是，我们讨论了与下一代流动性系统的自主体系结构星云（网络意识到的感知自主权）的整合所产生的行为和能力。我们将讨论在移动，感知，自主权以及非常短暂的无线网络以及所学的经验教训和未来方向方面的硬件和软件挑战以及解决方案。我们在实际情况下展示了在物理系统上提出的解决方案的性能。
This paper serves as one of the first efforts to enable large-scale and long-duration autonomy using the Boston Dynamics Spot robot. Motivated by exploring extreme environments, particularly those involved in the DARPA Subterranean Challenge, this paper pushes the boundaries of the state-of-practice in enabling legged robotic systems to accomplish real-world complex missions in relevant scenarios. In particular, we discuss the behaviors and capabilities which emerge from the integration of the autonomy architecture NeBula (Networked Belief-aware Perceptual Autonomy) with next-generation mobility systems. We will discuss the hardware and software challenges, and solutions in mobility, perception, autonomy, and very briefly, wireless networking, as well as lessons learned and future directions. We demonstrate the performance of the proposed solutions on physical systems in real-world scenarios.
