DARPA Subterranean Challenge

    I was a member of Team CERBERUS, the winning team of the DARPA Subterranean Challenge. The challenge focused on performing search and rescue missions using autonomous robots in underground settings, in GPS-denied, degraded environment and sensing conditions.

    I worked on:

    • Motion planning and controls for cooperation between ground and aerial robots.
    • Artifact detection pipeline using YOLO-v3.
    • Hardware and software framework integration for aerial and wheeled robots.
    • Drone safety piloting.
    • Team CERBERUS Wins the DARPA Subterranean Challenge: Technical Overview and Lessons Learned, Field Robotics, 2022. Link
    • CERBERUS in the DARPA Subterranean Challenge, Science Robotics, 2022. Link
    • CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits, Field Robotics, 2022. Link

    Team Website