Robohub.org
 

Exploring the DARPA SubTerranean Challenge

by
27 July 2020



share this:

The DARPA Subterranean (SubT) Challenge aims to develop innovative technologies that would augment operations underground. On July 20, Dr Timothy Chung, the DARPA SubTChallenge Program Manager, joined Silicon Valley Robotics to discuss the upcoming Cave Circuit and Subterranean Challenge Finals, and the opportunities that still exist for individual and team entries in both Virtual and Systems Challenges, as per the video below.

The SubT Challenge allows teams to demonstrate new approaches for robotic systems to rapidly map, navigate, and search complex underground environments, including human-made tunnel systems, urban underground, and natural cave networks.

The SubT Challenge is organized into two Competitions (Systems and Virtual), each with two tracks (DARPA-funded and self-funded).

SYSTEMS COMPETITION RESULTS

Teams in the Systems Competition completed four total runs, two 60-minute runs on each of two courses, Experimental and Safety Research. The courses varied in difficulty and included 20 artifacts each. Teams earned points by correctly identifying artifacts within a five-meter accuracy. The final score was a total of each team’s best score from each of the courses. In instances of a points tie, team rank was determined by (1) earliest time the last artifact was successfully reported, averaged across the team’s best runs on each course; (2) earliest time the first artifact was successfully reported, averaged across the team’s best runs on each course; and (3) lowest average time across all valid artifact reports, averaged across the team’s best runs on each course.

The Tunnel Circuit final scores were as follows

25 Explorer, DARPA-funded
11 CoSTAR (Collaborative SubTerranean Autonomous Resilient Robots), DARPA-funded
10 CTU-CRAS, self-funded winner of the $200,000 Tunnel Circuit prize
9 MARBLE (Multi-agent Autonomy with Radar-Based Localization for Exploration), DARPA-funded
7 CSIRO Data61, DARPA-funded
5 CERBERUS (CollaborativE walking & flying RoBots for autonomous ExploRation in Underground Settings), DARPA-funded
2 NCTU (National Chiao Tung University), self-funded
2 Robotika, self-funded
1 CRETISE (Collaborative Robot Exploration and Teaming In Subterranean Environments), DARPA-funded
1 PLUTO (Pennsylvania Laboratory for Underground Tunnel Operations), DARPA-funded
0 Coordinated Robotics, self-funded

The Urban Circuit final scores were as follows:

16 CoSTAR (Collaborative SubTerranean Autonomous Resilient Robots), DARPA-funded
11 Explorer, DARPA-funded
10 CTU-CRAS-NORLAB (Czech Technical University in Prague – Center for Robotics and Autonomous Systems – Northern Robotics Laboratory), self-funded winner of $500,000 first place prize
9 CSIRO Data61, DARPA-funded
7 CERBERUS (CollaborativE walking & flying RoBots for autonomous ExploRation in Underground Settings), DARPA-funded
4 Coordinated Robotics, self-funded winner of the $250,000 second place prize
4 MARBLE (Multi-agent Autonomy with Radar-Based Localization for Exploration), DARPA-funded
2 NCTU (National Chiao Tung University), self-funded
2 Robotika, self-funded
1 NUS SEDS, (National University of Singapore Students for Exploration and Development of Space), self-funded

VIRTUAL COMPETITION RESULTS

The Virtual competitors developed advanced software for their respective teams of virtual aerial and wheeled robots to explore tunnel environments, with the goal of finding various artifacts hidden throughout the virtual environment and reporting their locations and types to within a five-meter radius during each 60-minute simulation run. A correct report is worth one point and competitors win by accruing the most points across multiple, diverse simulated environments.

The Tunnel Circuit final scores were as follows:

50 Coordinated Robotics, self-funded
21 BARCS, DARPA-funded
14 SODIUM-24 Robotics, self-funded
9 Robotika, self-funded
7 COLLEMBOLA, DARPA-funded
1 Flying Fitches, self-funded
0 AAUNO, self-funded
0 CYNET.ai, self-funded

The Urban Circuit final scores were as follows:

150 BARCS (Bayesian Adaptive Robot Control System), DARPA-funded
115 Coordinated Robotics, self-funded winner of the $250,000 first place prize
21 Robotika, self-funded winner of the $150,000 second place prize
17 COLLEMBOLA (Communication Optimized, Low Latency Exploration, Map-Building and Object Localization Autonomy), DARPA-funded
7 Flying Fitches, self-funded winner of the $100,000 third place prize
7 SODIUM-24 Robotics, self-funded
2 CYNET.ai, self-funded
0 AAUNO, self-funded

2020 Cave Circuit and Finals

The Cave Circuit, the final of three Circuit events, is planned for later this year. Final Event, planned for summer of 2021, will put both Systems and Virtual teams to the test with courses that incorporate diverse elements from all three environments. Teams will compete for up to $2 million in the Systems Final Event and up to $1.5 million in the Virtual Final Event, with additional prizes.

Learn more about the opportunities to participate either virtual or systems Team: https://www.subtchallenge.com/

Dr. Timothy Chung joined DARPA’s Tactical Technology Office as a program manager in February 2016. He serves as the Program Manager for the OFFensive Swarm-Enabled Tactics Program and the DARPA Subterranean (SubT) Challenge.

Prior to joining DARPA, Dr. Chung served as an Assistant Professor at the Naval Postgraduate School and Director of the Advanced Robotic Systems Engineering Laboratory (ARSENL). His academic interests included modeling, analysis, and systems engineering of operational settings involving unmanned systems, combining collaborative autonomy development efforts with an extensive live-fly field experimentation program for swarm and counter-swarm unmanned system tactics and associated technologies.

Dr. Chung holds a Bachelor of Science in Mechanical and Aerospace Engineering from Cornell University. He also earned Master of Science and Doctor of Philosophy degrees in Mechanical Engineering from the California Institute of Technology.

Learn more about DARPA here: www.darpa.mil




Silicon Valley Robotics the industry association supporting innovation and commercialization of robotics technologies.
Silicon Valley Robotics the industry association supporting innovation and commercialization of robotics technologies.





Related posts :



A robot that finds lost items

Researchers at MIT have created RFusion, a robotic arm with a camera and radio frequency (RF) antenna attached to its gripper, that fuses signals from the antenna with visual input from the camera to locate and retrieve an item, even if the item is buried under a pile and completely out of view.
18 October 2021, by

Robohub gets a fresh look

If you visited Robohub this week, you may have spotted a big change: how this blog looks now! On Tuesday (coinciding with Ada Lovelace Day and our ‘50 women in robotics that you need to know about‘ by chance), Robohub got a massive modernisation on its look by our technical director Ioannis K. Erripis and his team.
17 October 2021, by
ep.

339

podcast

High Capacity Ride Sharing, with Alex Wallar

In this episode, our interviewer Lilly speaks to Alex Wallar, co-founder and CTO of The Routing Company. Wallar shares his background in multi-robot path-planning and optimization, and his research on scheduling and routing algorithms for high-capacity ride-sharing. They discuss how The Routing Company helps cities meet the needs of their people, the technical ins and outs of their dispatcher and assignment system, and the importance of public transit to cities and their economics.
12 October 2021, by

50 women in robotics you need to know about 2021

It’s Ada Lovelace Day and once again we’re delighted to introduce you to “50 women in robotics you need to know about”! From the Afghanistan Girls Robotics Team to K.G.Engelhardt who in 1989 ...
12 October 2021, by and

Join the Women in Robotics Photo Challenge

How can women feel as if they belong in robotics if we can't see any pictures of women building or programming robots? The Civil Rights Activist Marian Wright Edelson aptly said, "You can't be what yo...
12 October 2021, by

Sense Think Act Podcast: Melonee Wise

In this episode, Audrow Nash speaks with Melonee Wise, former CEO of Fetch Robotics and current VP of Robotics Automation at Zebra Technologies. Melonee speaks about the origin of Fetch Robotics, her ...
11 October 2021, by and





©2021 - ROBOTS Association


 












©2021 - ROBOTS Association