{"id":302,"date":"2019-05-07T15:30:43","date_gmt":"2019-05-07T15:30:43","guid":{"rendered":"http:\/\/robotics.fel.cvut.cz\/cras\/?page_id=302"},"modified":"2024-01-18T16:52:29","modified_gmt":"2024-01-18T16:52:29","slug":"darpa-subt","status":"publish","type":"page","link":"https:\/\/robotics.fel.cvut.cz\/cras\/darpa-subt\/","title":{"rendered":"DARPA Sub-T"},"content":{"rendered":"\n<figure class=\"wp-block-image size-full\"><a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2024\/01\/CTU-CRAS-NORLAB-DARPA-SubT-Final-Kentucky-2.jpg\"><img loading=\"lazy\" decoding=\"async\" width=\"1018\" height=\"348\" src=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2024\/01\/CTU-CRAS-NORLAB-DARPA-SubT-Final-Kentucky-2.jpg\" alt=\"\" class=\"wp-image-509\" srcset=\"https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2024\/01\/CTU-CRAS-NORLAB-DARPA-SubT-Final-Kentucky-2.jpg 1018w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2024\/01\/CTU-CRAS-NORLAB-DARPA-SubT-Final-Kentucky-2-300x103.jpg 300w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2024\/01\/CTU-CRAS-NORLAB-DARPA-SubT-Final-Kentucky-2-768x263.jpg 768w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2024\/01\/CTU-CRAS-NORLAB-DARPA-SubT-Final-Kentucky-2-624x213.jpg 624w\" sizes=\"(max-width: 1018px) 100vw, 1018px\" \/><\/a><\/figure>\n\n\n<p>Story of <strong>CTU-CRAS-NORLAB<\/strong> team. Participating labs: <a href=\"http:\/\/cyber.felk.cvut.cz\/vras\">VRAS<\/a>, <a href=\"https:\/\/comrob.fel.cvut.cz\">ComRob<\/a>, <a href=\"http:\/\/mrs.felk.cvut.cz\">MRS<\/a>, <a href=\"https:\/\/norlab.ulaval.ca\">NORLab<\/a>.<\/p>\n<h2>Open source codes<\/h2>\n<p>During our participation in SubT Challenge, we developed and released a bunch of SW packages. They were deployed on both System and Virtual systems.<\/p>\n<ul>\n<li><a href=\"https:\/\/github.com\/norlab-ulaval\">NORLAB ICP mapper<\/a>. Look for packages libpoint_matcher, libpointmatcher_ros, norlab_icp_mapper and norlab_icp_mapper_ros.\n<li><a href=\"https:\/\/ctu-mrs.github.io\">MRS UAV packages<\/a>. Many packages for control and perception of UAVs.\n<li><a href=\"https:\/\/github.com\/ctu-vras\">VRAS UGV packages<\/a>. Several packages, also system-related.\n<\/ul>\n<h2>Publications<\/h2>\n<ul>\n<li>\nMain system paper: Rou\u010dek, T., Pecka, M., \u010c\u00ed\u017eek, P., Pet\u0159\u00ed\u010dek, T., Bayer, J., \u0160alansk\u00fd, V., Azayev, T., He\u0159t, D., Petrl\u00edk, M., B\u00e1\u010da, T., Spurn\u00fd, V., Kr\u00e1tk\u00fd, V.,  Petr\u00e1\u010dek, P., Baril, D., Vaidis M., Kubelka, V., Pomerleau, F., Faigl, J., Zimmermann, K., Saska, M., Svoboda, T., &#038; Krajn\u00edk, T. (2022). System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge. Field Robotics, 2, 1779\u20131818. <a href=\"https:\/\/fieldrobotics.net\/Field_Robotics\/SI_DARPA_SubT_files\/Vol2_55.pdf\">PDF<\/a>. <a href=\"https:\/\/doi.org\/10.55417\/fr.2022055\">doi.org\/10.55417\/fr.2022055<\/a><\/p>\n<li>Petrl\u00edk, M., Petr\u00e1\u010dek, P., Kr\u00e1tk\u00fd, V., Musil, T., Stasinchuk, Y., Vrba, M., B\u00e1\u010da, T., He\u0159t, D., Pecka, M., Svoboda, T., and Saska, M. (2023). UAVs Beneath the Surface: Cooperative Autonomy for Subterranean Search and Rescue in DARPA SubT. Field Robotics, 3, 1-68. <a href=\"https:\/\/www.journalfieldrobotics.org\/Field_Robotics\/Volume_3_files\/Vol3_01.pdf\">PDF<\/a>, <a href=\"https:\/\/doi.org\/10.55417\/fr.2023001\">doi.org\/10.55417\/fr.2023001<\/a>\n<li>List of related publications. <a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/CTU-CRAS-NORLAB-DARPA-SubT-publications.pdf\">CTU-CRAS-NORLAB-DARPA-SubT-publications<\/a>\n<\/ul>\n<h2>Datasets<\/h2>\n<ul>\n<li><a href=\"http:\/\/subtdata.felk.cvut.cz\/darpa-subt\/data\/21-09-finals\/\">Final Event<\/a> (all robots with 3D lidars; ctu-robot = tracked, norlab-marmotte-dell = tracked, husky-robot = wheeled, spot-* = quadruped, red\/blue\/green = quadrotor)\n<li><a href=\"http:\/\/subtdata.felk.cvut.cz\/darpa-subt\/data\/20-02-urban-circuit\/www\/\">Urban Circuit<\/a> (<a href=\"http:\/\/subtdata.felk.cvut.cz\/darpa-subt\/data\/20-02-urban-circuit\/\">more data<\/a>) (ctu-robot\/dfki-robot\/tno-robot = tracked with 2D swiveling lidars, norlab-husky = wheeled with 3D lidar)\n<li><a href=\"http:\/\/subtdata.felk.cvut.cz\/darpa-subt\/data\/19-08-tunnel-circuit\/www\/\">Tunnel Circuit<\/a> (<a href=\"http:\/\/subtdata.felk.cvut.cz\/darpa-subt\/data\/19-08-tunnel-circuit\/\">more data<\/a>) (ctu-robot and dfki-robot = tracked + swiveling 2D lidar, husky-robot = wheeled + 3D lidar)\n<\/ul>\n<h2>Final Event<\/h2>\n<div id=\"attachment_489\" style=\"width: 635px\" class=\"wp-caption alignnone\"><a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/darpa-final-500.jpg\"><img loading=\"lazy\" decoding=\"async\" aria-describedby=\"caption-attachment-489\" src=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/darpa-final-500-1024x582.jpg\" alt=\"\" width=\"625\" height=\"355\" class=\"size-large wp-image-489\" srcset=\"https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/darpa-final-500-1024x582.jpg 1024w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/darpa-final-500-300x170.jpg 300w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/darpa-final-500-768x436.jpg 768w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/darpa-final-500-624x355.jpg 624w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/darpa-final-500.jpg 1969w\" sizes=\"(max-width: 625px) 100vw, 625px\" \/><\/a><p id=\"caption-attachment-489\" class=\"wp-caption-text\">2nd place in Virtual Track<\/p><\/div>\n<ul>\n<li>We won 2nd place in Virtual and ended 6th in System challenges. <a href=\"https:\/\/fel.cvut.cz\/en\/aktuality\/2021\/darpa-results.html\">Summary page<\/a>.\n<li>Faculty <a href=\"https:\/\/fel.cvut.cz\/en\/darpa2021\/\">cover page<\/a>. Fresh info, links to video materials, &#8230;\n<li>We are advancing to the <a href=\"https:\/\/www.darpa.mil\/news-events\/2021-08-12\">top 10 teams<\/a> in the Virtual Event.\n<li>We have <a href=\"https:\/\/www.darpa.mil\/news-events\/2021-05-03\">qualified<\/a> to the system challenge.\n<li>And also to the <a href=\"https:\/\/subtchallenge.world\/leaderboard\">Virtual<\/a> challenge. <a href=\"https:\/\/www.linkedin.com\/pulse\/modeling-usar-robots-darpa-subt-tomas-svoboda\/\">Modeling robots<\/a>.\n<\/ul>\n<p><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/HzBh6QdySDI\" title=\"YouTube video player\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><\/p>\n<h2>Urban Challenge<\/h2>\n<p><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/rTP64z52JFE\" frameborder=\"0\" allow=\"accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><br \/>\n<iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/3tqBO0HbLHY\" frameborder=\"0\" allow=\"accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><\/p>\n<p><a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/prize-money-small.jpg\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/prize-money-small-300x190.jpg\" alt=\"prize-money-small\" width=\"300\" height=\"190\" class=\"alignleft size-medium wp-image-393\" srcset=\"https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/prize-money-small-300x190.jpg 300w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/prize-money-small-1024x648.jpg 1024w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/prize-money-small-624x395.jpg 624w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/robots-on-course-small.jpeg\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/robots-on-course-small-300x225.jpeg\" alt=\"robots-on-course-small\" width=\"250\" height=\"184\" class=\"alignleft size-medium wp-image-382\" \/><\/a><a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/ctu-cras-norlab-team.jpg\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/ctu-cras-norlab-team-300x195.jpg\" alt=\"ctu-cras-norlab-team\" width=\"300\" height=\"184\" class=\"noalign size-medium wp-image-384\" \/><\/a><\/p>\n<p><a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/power-plant.jpg\"><img loading=\"lazy\" decoding=\"async\" src=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/power-plant-1024x320.jpg\" alt=\"power-plant\" width=\"930\" height=\"290\" class=\"alignnone size-large wp-image-391\" srcset=\"https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/power-plant-1024x320.jpg 1024w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/power-plant-300x93.jpg 300w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/power-plant-624x195.jpg 624w\" sizes=\"(max-width: 930px) 100vw, 930px\" \/><\/a><\/p>\n<p>Yes, we were at <a href=\"https:\/\/www.darpa.mil\/news-events\/2020-01-10\">UrbanCircuit<\/a>, Feb 18-27, 2020. Our partners from <a href=\"https:\/\/norlab.ulaval.ca\">NORLAB<\/a> was there as well. <a href=\"https:\/\/twitter.com\/search?q=(CTU-CRAS-NORLAB%2C%20OR%20robotics.fel.cvut.cz)%20(%23SubTChallenge)&#038;src=typed_query&#038;f=live\">tweets<\/a> from the event.<\/p>\n<p>We <a href=\"https:\/\/twitter.com\/cyberFEL\/status\/1233232243629285376\">scored again<\/a> and plan to go to the Cave and final Grand Challenge which will include all three environments. We have several research topics including multi-robot exploration, path execution, robot autonomy. <strong><a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/contact\/\">We<\/a> are hiring students at all levels, master, PhD. <\/strong><\/p>\n<h2>Tunnel Challenge<\/h2>\n<p><a href=\"https:\/\/slideslive.com\/38922240\/robots-go-deep\">Talk<\/a> about our story so far. <a href=\"https:\/\/link.springer.com\/chapter\/10.1007\/978-3-030-43890-6_22\">MESAS 2019 paper<\/a> [<a href=\"http:\/\/comrob.fel.cvut.cz\/papers\/mesas19subt.pdf\">pdf<\/a>]<\/p>\n<p><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/OiRz6ScYO5Q\" frameborder=\"0\" allow=\"accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><\/p>\n<p><a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/CTU-CRAS-square_small.jpeg\"><img loading=\"lazy\" decoding=\"async\" class=\"alignleft size-medium wp-image-322\" alt=\"CTU-CRAS-square_small\" src=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/CTU-CRAS-square_small-300x287.jpeg\" width=\"200\" height=\"185\" \/><\/a><\/p>\n<div id=\"attachment_340\" style=\"width: 310px\" class=\"wp-caption alignleft\"><a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/CTU-CRAS-team-official-DARPA-photo.jpg\"><img loading=\"lazy\" decoding=\"async\" aria-describedby=\"caption-attachment-340\" class=\"size-medium wp-image-340\" alt=\"CTU-CRAS team with the robots at the Tunnel Circuit\" src=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/CTU-CRAS-team-official-DARPA-photo-300x190.jpg\" width=\"300\" height=\"190\" srcset=\"https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/CTU-CRAS-team-official-DARPA-photo-300x190.jpg 300w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/CTU-CRAS-team-official-DARPA-photo-1024x649.jpg 1024w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/CTU-CRAS-team-official-DARPA-photo-624x395.jpg 624w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/CTU-CRAS-team-official-DARPA-photo.jpg 1347w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><p id=\"caption-attachment-340\" class=\"wp-caption-text\">CTU-CRAS team with the robots at the Tunnel Circuit<\/p><\/div>\n<div id=\"attachment_328\" style=\"width: 310px\" class=\"wp-caption alignleft\"><a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/winners-own-photo-small.jpg\"><img loading=\"lazy\" decoding=\"async\" aria-describedby=\"caption-attachment-328\" class=\"size-medium wp-image-328\" alt=\"CTU-CRAS team\" src=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/winners-own-photo-small-300x193.jpg\" width=\"300\" height=\"193\" srcset=\"https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/winners-own-photo-small-300x193.jpg 300w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/winners-own-photo-small-624x401.jpg 624w, https:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/05\/winners-own-photo-small.jpg 1008w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><p id=\"caption-attachment-328\" class=\"wp-caption-text\">CTU-CRAS team<\/p><\/div>\n<div style=\"clear:both;\"><\/div>\n<p><b>In the Tunnel-Circuit, we finished 3rd among 11 teams, and 1st among teams without DARPA funding winning thus the prize award, see the <a href=\"https:\/\/www.darpa.mil\/news-events\/2019-08-22\">DARPA official anouncement<\/a><\/b>.<\/p>\n<p>We thank project Research Center Informatics (<a href=\"http:\/\/rci.cvut.cz\">RCI<\/a>) for its generous support, <a href=\"https:\/\/www.robosense.ai\">RoboSense<\/a> for lending us their Lidar, <a href=\"https:\/\/www.jettyvision.cz\">JettyVision<\/a> for helping us to keep our tracked robots operational, <a href=\"https:\/\/norlab.ulaval.ca\">NORLab<\/a> for helping with the mapping, and also to our departments <a href=\"http:\/\/cyber.felk.cvut.cz\">Cybernetics<\/a> and <a href=\"http:\/\/cs.felk.cvut.cz\">Computer Science<\/a> for their excellent admin support and inspiring working environment. We thank the Czech Science Foundation for funding basic research, which application led to our success, within projects No 17-08842S &#8220;Robust motion planning and control on rough unstructured terrain&#8221;, No 17-27006Y &#8220;Spatio-temporal representations for life-long mobile robot navigation&#8221;. And thanks also go to EU for its support of <a href=\"http:\/\/www.nifti.eu\">NIFTi<\/a> and <a href=\"http:\/\/www.tradr-project.eu\">TRADR<\/a> project because we learned a lot what we need at the Challenge, now. We thank also to our colleagues from the <a href=\"https:\/\/www.ciirc.cvut.cz\/teams-labs\/rmp\/rop\/rop-group-description\/\">Robotic perception group<\/a> at CIIRC for sharing the tracked robots with us and long cooperation.<\/p>\n<p>Check the <a href=\"https:\/\/twitter.com\/search?f=live&amp;q=(CTU-CRAS%2C%20OR%20robotics.fel.cvut.cz)%20(%23SubTChallenge)&amp;src=typed_query\">tweets<\/a> for some impressions from the event.<\/p>\n<p><b>Data:<\/b> we collected quite a number of bag-files. Look, <a href=\"https:\/\/login.rci.cvut.cz\/data\/darpa-subt\/data\/19-08-tunnel-circuit\/www\/\">download<\/a> and play.<\/p>\n<p>Media coverage: Czech TV [<a href=\"https:\/\/login.rci.cvut.cz\/data\/darpa-subt\/media\/Studio6-2019-09-12.mp4\">Studio 6<\/a> 2019-09-12, <a href=\"https:\/\/www.ceskatelevize.cz\/ivysilani\/1097181328-udalosti\/219411000100911\/obsah\/718494-uspech-ceskych-robotu-v-usa\">Udalosti-News<\/a>, <a href=\"https:\/\/login.rci.cvut.cz\/data\/darpa-subt\/media\/Udalosti-2019-09-11-Uspech_ceskych_robot_v_USA-61924494877632167.mp4\">for download<\/a> 2019-09-11], <a href=\"https:\/\/www.lupa.cz\/clanky\/martin-pecka-karel-zimmermann-cvut-v-soutezi-darpa-jsme-uspeli-protoze-jsme-nebyli-lini-trenovat\">Lupa.cz<\/a>, &#8230;<\/p>\n<p><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/j8J4Hzs1wlU\" frameborder=\"0\" allow=\"accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe><\/p>\n<p><a href=\"http:\/\/robotics.fel.cvut.cz\/cras\/wp-content\/uploads\/2019\/01\/DARPA_SubT_CTU_CRAS_STIX_qualificaion_final.pdf\">Our team CTU-CRAS<\/a> qualified to the <a title=\"DARPA SubT challenge STIX event\" href=\"https:\/\/www.darpa.mil\/news-events\/2019-01-22\">STIX event<\/a> of <a href=\"https:\/\/www.subtchallenge.com\">DARPA SubTerranean Challenge<\/a>. We plan to go to all phases of the system track.<\/p>\n<p>Students participation welcome. Projects, Bachelor, Diploma theses. Come and see us at our labs: <a href=\"https:\/\/cyber.felk.cvut.cz\/vras\/\">VRAS<\/a>, <a href=\"http:\/\/mrs.felk.cvut.cz\/\">MRS<\/a>, <a href=\"https:\/\/comrob.fel.cvut.cz\">ComRob<\/a>.<\/p>\n<h2>STIX impressions<\/h2>\n<p>Flying inside the mine and above it:<br \/>\n<iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/Nk7SUNGzo1k\" height=\"315\" width=\"560\" allowfullscreen=\"\" frameborder=\"0\"><\/iframe><\/p>\n<p>A mapping and detection run:<br \/>\n<iframe loading=\"lazy\" src=\"https:\/\/www.youtube.com\/embed\/GsdxUnXtrVo\" height=\"315\" width=\"560\" allowfullscreen=\"\" frameborder=\"0\"><\/iframe><\/p>\n<p>More words, photos, at <a href=\"http:\/\/mrs.felk.cvut.cz\/darpa\">MRS group<\/a> page.<\/p>\n<p>Supported by:<\/p>\n<ul>\n<li>Research Center Informatics <a href=\"http:\/\/rci.cvut.cz\">http:\/\/rci.cvut.cz<\/a><\/li>\n<li>Department of Cybernetics <a href=\"http:\/\/cyber.felk.cvut.cz\">http:\/\/cyber.felk.cvut.cz<\/a><\/li>\n<li>Department of Computer Science <a href=\"http:\/\/cs.felk.cvut.cz\">http:\/\/cs.felk.cvut.cz<\/a><\/li>\n<li>Czech Science Foundation by project 20-29531S Autonomous time-critical exploration of communication and perception constrained environment by team of robots.<\/li>\n<\/ul>\n<p><b>The team<\/b> (random order): Tomas Svoboda, Karel Zimmermann, Jan Faigl, Tomas Krajnik, Martin Saska, Vojta Salansky, Tomas Petricek, Martin Pecka, Teymur Azayev, Jan Bayer, Tomas Roucek, Petr Cizek, Daniel Hert, Vit Kratky, Vladimir Kubelka, Matej Petrlik, Pavel Petracek.<\/p>\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Story of CTU-CRAS-NORLAB team. Participating labs: VRAS, ComRob, MRS, NORLab. Open source codes During our participation in SubT Challenge, we developed and released a bunch of SW packages. They were deployed on both System and Virtual systems. NORLAB ICP mapper. Look for packages libpoint_matcher, libpointmatcher_ros, norlab_icp_mapper and norlab_icp_mapper_ros. MRS UAV packages. Many packages for control [&hellip;]<\/p>\n","protected":false},"author":2,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"open","template":"","meta":{"footnotes":""},"_links":{"self":[{"href":"https:\/\/robotics.fel.cvut.cz\/cras\/wp-json\/wp\/v2\/pages\/302"}],"collection":[{"href":"https:\/\/robotics.fel.cvut.cz\/cras\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/robotics.fel.cvut.cz\/cras\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/robotics.fel.cvut.cz\/cras\/wp-json\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/robotics.fel.cvut.cz\/cras\/wp-json\/wp\/v2\/comments?post=302"}],"version-history":[{"count":108,"href":"https:\/\/robotics.fel.cvut.cz\/cras\/wp-json\/wp\/v2\/pages\/302\/revisions"}],"predecessor-version":[{"id":510,"href":"https:\/\/robotics.fel.cvut.cz\/cras\/wp-json\/wp\/v2\/pages\/302\/revisions\/510"}],"wp:attachment":[{"href":"https:\/\/robotics.fel.cvut.cz\/cras\/wp-json\/wp\/v2\/media?parent=302"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}