Abstract:
We propose a framework for resilient autonomous navigation in perceptuallychallenging unknown environments with mobility-stressing elements such asuneven surfaces with rocks and boulders, steep slopes, negative obstacles like cliffsand holes, and narrow passages. Environments are GPS-denied and perceptuallydegradedwith variable lighting from dark to lit and obscurants (dust, fog, smoke).Lack of prior maps and degraded communication eliminates the possibility of prioror off-board computation or operator intervention. This necessitates real-time onboardcomputation using noisy sensor data. To address these challenges, we proposea resilient architecture that exploits redundancy and heterogeneity in sensing modalities.Further resilience is achieved by triggering recovery behaviors upon failure.We propose a fast settling algorithm to generate robust multi-fidelity traversabilityestimates in real-time. The proposed approach was deployed on multiple physicalsystems including skid-steer and tracked robots, high-speed RC car and legged robotsand as a part of Team CoSTAR’s effort to theDARPASubterranean Challenge, wherethe team won 2nd and 1st place in the Tunnel and Urban Circuit, respectively.
