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Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion

Bouman, Amanda and Ginting, Muhammad Fadhil and Alatur, Nikhilesh and Palieri, Matteo and Fan, David D. and Touma, Thomas and Pailevanian, Torkom and Kim, Sung-Kyun and Otsu, Kyohei and Burdick, Joel and Agha-Mohammadi, Ali-Akbar (2020) Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion. In: 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE , Piscataway, NJ, pp. 2518-2525. ISBN 9781728162126. https://resolver.caltech.edu/CaltechAUTHORS:20210216-081737000

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Abstract

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 brie y, 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. The proposed solution contributed to winning 1st-place in the 2020 DARPA Subterranean Challenge, Urban Circuit.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/iros45743.2020.9341361DOIArticle
https://arxiv.org/abs/2010.09259arXivDiscussion Paper
https://youtu.be/MSKEaPtYOLIRelated ItemSelected Mission Clips
https://costar.jpl.nasa.govRelated ItemCoSTAR Team Website
ORCID:
AuthorORCID
Agha-Mohammadi, Ali-Akbar0000-0001-5509-1841
Additional Information:© 2020 IEEE.
Record Number:CaltechAUTHORS:20210216-081737000
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20210216-081737000
Official Citation:A. Bouman et al., "Autonomous Spot: Long-Range Autonomous Exploration of Extreme Environments with Legged Locomotion," 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 2020, pp. 2518-2525, doi: 10.1109/IROS45743.2020.9341361
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:108058
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:16 Feb 2021 18:28
Last Modified:16 Feb 2021 18:29

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