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Team CERBERUS: DARPA Subterranean Challenge Technical Approach and Lessons Learned

Team CERBERUS' DARPA Subterranean Challenge Technical Approach and Lessons Learned. We outline our team's approach with respect to the robotic systems legged and flying mobility concepts, methods for resilient multi-modal and multi-robot localization and mapping, autonomy and especially exploration path planning, artifact detection and localization on the map, as well as communications and networking. Finally, we outline our competitive runs and results especially during the Prize Run of the DARPA Subterranean Challenge finals. Presenters: * Kostas Alexis * Marco Tranzatto * Shehryar Khattak * Mihir Dharmadhikari * Mihir Kulkarni * Samuel Zimmermann Team CERBERUS info page: http://www.subt-cerberus.org/ Note: There is a typo error in 26min: We mention 40,007 labels total because we also accounted for labels for the cellphone artifact. Visual detection was however not reliable thus the associated row ("Cellphone - 3556 labels") is not shown in the table.