This article presents the core technologies and deployment strategies of Team CERBERUS
that enabled our winning run in the DARPA Subterranean Challenge finals. CERBERUS is a …

Performing agile navigation with four-legged robots is a challenging task because of the
highly dynamic motions, contacts with various parts of the robot, and the limited field of view …

Animals are capable of precise and agile locomotion using vision. Replicating this ability
has been a long-standing goal in robotics. The traditional approach has been to decompose …

The interest in exploring planetary bodies for scientific investigation and in situ resource
utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art …

Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance,
and planning of the underactuated dynamics of the system. Reliably optimizing for such …

Legged locomotion is a complex control problem that requires both accuracy and
robustness to cope with real-world challenges. Legged systems have traditionally been …

Autonomous wheeled-legged robots have the potential to transform logistics systems,
improving operational efficiency and adaptability in urban environments. Navigating urban …

Natural environments such as forests and grasslands are challenging for robotic navigation
because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this …

Despite the progress in legged robotic locomotion, autonomous navigation in unknown
environments remains an open problem. Ideally, the navigation system utilizes the full …

Effective use of camera-based vision systems is essential for robust performance in
autonomous off-road driving, particularly in the high-speed regime. Despite success in …