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.
翻译:本文是利用波士顿动态点机器人实现大规模和长期自治的首批努力之一。本文的动机是探索极端环境,特别是参与DARPASubterranane挑战的极端环境。本文将推动最新实践的界限,使脚踏实地的机器人系统能够在相关情景下完成现实世界复杂的任务。特别是,我们讨论了将自主架构NeBula(网络信仰意识感知感知感知自主)与下一代流动系统整合后产生的行为和能力。我们将讨论硬件和软件的挑战,以及移动、感知、自主和非常简短的无线联网方面的解决方案,以及经验教训和未来方向。我们展示了在现实世界情景下物理系统的拟议解决方案的绩效。