Walsh, William
NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge
Agha, Ali, Otsu, Kyohei, Morrell, Benjamin, Fan, David D., Thakker, Rohan, Santamaria-Navarro, Angel, Kim, Sung-Kyun, Bouman, Amanda, Lei, Xianmei, Edlund, Jeffrey, Ginting, Muhammad Fadhil, Ebadi, Kamak, Anderson, Matthew, Pailevanian, Torkom, Terry, Edward, Wolf, Michael, Tagliabue, Andrea, Vaquero, Tiago Stegun, Palieri, Matteo, Tepsuporn, Scott, Chang, Yun, Kalantari, Arash, Chavez, Fernando, Lopez, Brett, Funabiki, Nobuhiro, Miles, Gregory, Touma, Thomas, Buscicchio, Alessandro, Tordesillas, Jesus, Alatur, Nikhilesh, Nash, Jeremy, Walsh, William, Jung, Sunggoo, Lee, Hanseob, Kanellakis, Christoforos, Mayo, John, Harper, Scott, Kaufmann, Marcel, Dixit, Anushri, Correa, Gustavo, Lee, Carlyn, Gao, Jay, Merewether, Gene, Maldonado-Contreras, Jairo, Salhotra, Gautam, Da Silva, Maira Saboia, Ramtoula, Benjamin, Fakoorian, Seyed, Hatteland, Alexander, Kim, Taeyeon, Bartlett, Tara, Stephens, Alex, Kim, Leon, Bergh, Chuck, Heiden, Eric, Lew, Thomas, Cauligi, Abhishek, Heywood, Tristan, Kramer, Andrew, Leopold, Henry A., Choi, Chris, Daftry, Shreyansh, Toupet, Olivier, Wee, Inhwan, Thakur, Abhishek, Feras, Micah, Beltrame, Giovanni, Nikolakopoulos, George, Shim, David, Carlone, Luca, Burdick, Joel
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 2nd and 1st 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; (i) 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.
AAAI 2008 Workshop Reports
Anand, Sarabjot Singh (University of Warwick) | Bunescu, Razvan C. (Ohio University) | Carvalho, Vitor R. (Microsoft Live Labs) | Chomicki, Jan (University of Buffalo) | Conitzer, Vincent (Duke University) | Cox, Michael T. (BBN Technologies) | Dignum, Virginia (Utrecht University) | Dodds, Zachary (Harvey Mudd College) | Dredze, Mark (University of Pennsylvania) | Furcy, David (University of Wisconsin Oshkosh) | Gabrilovich, Evgeniy (Yahoo! Research) | Göker, Mehmet H. (PricewaterhouseCoopers) | Guesgen, Hans Werner (Massey University) | Hirsh, Haym (Rutgers University) | Jannach, Dietmar (Dortmund University of Technology) | Junker, Ulrich (ILOG) | Ketter, Wolfgang (Erasmus University) | Kobsa, Alfred (University of California, Irvine) | Koenig, Sven (University of Southern California) | Lau, Tessa (IBM Almaden Research Center) | Lewis, Lundy (Southern New Hampshire University) | Matson, Eric (Purdue University) | Metzler, Ted (Oklahoma City University) | Mihalcea, Rada (University of North Texas) | Mobasher, Bamshad (DePaul University) | Pineau, Joelle (McGill University) | Poupart, Pascal (University of Waterloo) | Raja, Anita (University of North Carolina at Charlotte) | Ruml, Wheeler (University of New Hampshire) | Sadeh, Norman M. (Carnegie Mellon University) | Shani, Guy (Microsoft Research) | Shapiro, Daniel (Applied Reactivity, Inc.) | Smith, Trey (Carnegie Mellon University West) | Taylor, Matthew E. (University of Southern California) | Wagstaff, Kiri (Jet Propulsion Laboratory) | Walsh, William (CombineNet) | Zhou, Ron (Palo Alto Research Center)
AAAI 2008 Workshop Reports
AAAI 2008 Workshop Reports
Anand, Sarabjot Singh (University of Warwick) | Bunescu, Razvan C. (Ohio University) | Carvalho, Vitor R. (Microsoft Live Labs) | Chomicki, Jan (University of Buffalo) | Conitzer, Vincent (Duke University) | Cox, Michael T. (BBN Technologies) | Dignum, Virginia (Utrecht University) | Dodds, Zachary (Harvey Mudd College) | Dredze, Mark (University of Pennsylvania) | Furcy, David (University of Wisconsin Oshkosh) | Gabrilovich, Evgeniy (Yahoo! Research) | Göker, Mehmet H. (PricewaterhouseCoopers) | Guesgen, Hans Werner (Massey University) | Hirsh, Haym (Rutgers University) | Jannach, Dietmar (Dortmund University of Technology) | Junker, Ulrich (ILOG) | Ketter, Wolfgang (Erasmus University) | Kobsa, Alfred (University of California, Irvine) | Koenig, Sven (University of Southern California) | Lau, Tessa (IBM Almaden Research Center) | Lewis, Lundy (Southern New Hampshire University) | Matson, Eric (Purdue University) | Metzler, Ted (Oklahoma City University) | Mihalcea, Rada (University of North Texas) | Mobasher, Bamshad (DePaul University) | Pineau, Joelle (McGill University) | Poupart, Pascal (University of Waterloo) | Raja, Anita (University of North Carolina at Charlotte) | Ruml, Wheeler (University of New Hampshire) | Sadeh, Norman M. (Carnegie Mellon University) | Shani, Guy (Microsoft Research) | Shapiro, Daniel (Applied Reactivity, Inc.) | Smith, Trey (Carnegie Mellon University West) | Taylor, Matthew E. (University of Southern California) | Wagstaff, Kiri (Jet Propulsion Laboratory) | Walsh, William (CombineNet) | Zhou, Ron (Palo Alto Research Center)
AAAI was pleased to present the AAAI-08 Workshop Program, held Sunday and Monday, July 13–14, in Chicago, Illinois, USA. The program included the following 15 workshops: Advancements in POMDP Solvers; AI Education Workshop Colloquium; Coordination, Organizations, Institutions, and Norms in Agent Systems, Enhanced Messaging; Human Implications of Human-Robot Interaction; Intelligent Techniques for Web Personalization and Recommender Systems; Metareasoning: Thinking about Thinking; Multidisciplinary Workshop on Advances in Preference Handling; Search in Artificial Intelligence and Robotics; Spatial and Temporal Reasoning; Trading Agent Design and Analysis; Transfer Learning for Complex Tasks; What Went Wrong and Why: Lessons from AI Research and Applications; and Wikipedia and Artificial Intelligence: An Evolving Synergy.