{"id":"https://openalex.org/W3157464965","doi":"https://doi.org/10.55417/fr.2022021","title":"Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge","display_name":"Heterogeneous Ground and Air Platforms, Homogeneous Sensing: Team CSIRO Data61's Approach to the DARPA Subterranean Challenge","publication_year":2022,"publication_date":"2022-05-01","ids":{"openalex":"https://openalex.org/W3157464965","doi":"https://doi.org/10.55417/fr.2022021","mag":"3157464965"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2022021","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022021","pdf_url":"https://doi.org/10.55417/fr.2022021","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2022021","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5080204664","display_name":"Nicolas Hudson","orcid":"https://orcid.org/0000-0002-4931-9659"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Nicolas Hudson","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5006463564","display_name":"Fletcher Talbot","orcid":"https://orcid.org/0000-0001-7845-4641"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Fletcher Talbot","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5070985746","display_name":"Mark Cox","orcid":"https://orcid.org/0000-0002-8269-7918"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Mark Cox","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076006629","display_name":"Jason Williams","orcid":"https://orcid.org/0000-0002-2416-075X"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Jason Williams","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060329773","display_name":"Thomas Hines","orcid":"https://orcid.org/0000-0003-2820-8201"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thomas Hines","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5001140928","display_name":"Alex Pitt","orcid":"https://orcid.org/0000-0001-7501-6275"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Alex Pitt","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062501865","display_name":"Brett Wood","orcid":"https://orcid.org/0000-0002-2818-920X"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Brett Wood","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069883564","display_name":"Dennis Frousheger","orcid":"https://orcid.org/0000-0002-6358-1733"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Dennis Frousheger","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078387673","display_name":"Katrina Lo Surdo","orcid":"https://orcid.org/0000-0001-6632-8998"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Katrina Lo Surdo","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069017704","display_name":"Thomas Molnar","orcid":"https://orcid.org/0000-0003-1170-5439"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Thomas Molnar","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014108642","display_name":"Ryan Steindl","orcid":"https://orcid.org/0000-0001-7048-7270"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Ryan Steindl","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081096163","display_name":"Matt Wildie","orcid":null},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Matt Wildie","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065532121","display_name":"Inkyu Sa","orcid":"https://orcid.org/0000-0001-5429-0515"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Inkyu Sa","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056096868","display_name":"Navinda Kottege","orcid":"https://orcid.org/0000-0002-2286-776X"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":true,"raw_author_name":"Navinda Kottege","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066816486","display_name":"Kazys Stepanas","orcid":"https://orcid.org/0000-0003-2183-9991"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Kazys Stepanas","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021750625","display_name":"Emili Hern\u00e1ndez","orcid":"https://orcid.org/0000-0002-6143-6161"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Emili Hernandez","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007698160","display_name":"Gavin Catt","orcid":"https://orcid.org/0000-0002-7788-6618"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Gavin Catt","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019693530","display_name":"William Docherty","orcid":"https://orcid.org/0000-0003-3058-2892"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"William Docherty","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014231573","display_name":"Brendan Tidd","orcid":"https://orcid.org/0000-0002-7721-7799"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Brendan Tidd","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069756365","display_name":"Benjamin Tam","orcid":"https://orcid.org/0000-0003-3586-4354"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Benjamin Tam","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081252281","display_name":"Simon Murrell","orcid":"https://orcid.org/0000-0001-7374-7285"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Simon Murrell","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044792116","display_name":"Mitchell Bessell","orcid":"https://orcid.org/0000-0002-9485-0289"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Mitchell Bessell","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016544434","display_name":"Lauren Hanson","orcid":"https://orcid.org/0000-0003-3654-9188"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Lauren Hanson","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055685590","display_name":"Lachlan Tychsen-Smith","orcid":"https://orcid.org/0000-0001-6150-2424"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Lachlan Tychsen-Smith","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073263665","display_name":"Hajime Suzuki","orcid":"https://orcid.org/0000-0001-9564-2847"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Hajime Suzuki","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5079678322","display_name":"Leslie Overs","orcid":"https://orcid.org/0000-0001-7343-705X"},"institutions":[{"id":"https://openalex.org/I1292875679","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07","country_code":"AU","type":"government","lineage":["https://openalex.org/I1292875679","https://openalex.org/I2801453606","https://openalex.org/I4387156119"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Leslie Overs","raw_affiliation_strings":["Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Robotics and Autonomous Systems Group, CSIRO, Pullenvale, Queensland, Australia","institution_ids":["https://openalex.org/I1292875679"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033168346","display_name":"Farid Kendoul","orcid":"https://orcid.org/0000-0003-0301-5817"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Farid Kendoul","raw_affiliation_strings":["Emesent, Milton, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Emesent, Milton, Queensland, Australia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031211737","display_name":"Glenn Wagner","orcid":"https://orcid.org/0000-0002-3450-398X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Glenn Wagner","raw_affiliation_strings":["Emesent, Milton, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Emesent, Milton, Queensland, Australia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101551053","display_name":"Duncan Palmer","orcid":"https://orcid.org/0000-0001-8927-8946"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Duncan Palmer","raw_affiliation_strings":["Emesent, Milton, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Emesent, Milton, Queensland, Australia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066726411","display_name":"Peter Milani","orcid":"https://orcid.org/0000-0002-6934-1159"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Peter Milani","raw_affiliation_strings":["Emesent, Milton, Queensland, Australia"],"affiliations":[{"raw_affiliation_string":"Emesent, Milton, Queensland, Australia","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5012395914","display_name":"Matthew J O\u2019Brien","orcid":"https://orcid.org/0000-0002-5933-0069"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2800444561","display_name":"Atlanta Technical College","ror":"https://ror.org/01s3vfp47","country_code":"US","type":"education","lineage":["https://openalex.org/I2800444561"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Matthew O'Brien","raw_affiliation_strings":["Georgia Tech, Atlanta, Georgia, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Tech, Atlanta, Georgia, USA","institution_ids":["https://openalex.org/I2800444561","https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101849424","display_name":"Shu Jiang","orcid":"https://orcid.org/0000-0002-2937-7771"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2800444561","display_name":"Atlanta Technical College","ror":"https://ror.org/01s3vfp47","country_code":"US","type":"education","lineage":["https://openalex.org/I2800444561"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shu Jiang","raw_affiliation_strings":["Georgia Tech, Atlanta, Georgia, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Tech, Atlanta, Georgia, USA","institution_ids":["https://openalex.org/I2800444561","https://openalex.org/I130701444"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003194024","display_name":"Shengkang Chen","orcid":null},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2800444561","display_name":"Atlanta Technical College","ror":"https://ror.org/01s3vfp47","country_code":"US","type":"education","lineage":["https://openalex.org/I2800444561"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shengkang Chen","raw_affiliation_strings":["Georgia Tech, Atlanta, Georgia, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Tech, Atlanta, Georgia, USA","institution_ids":["https://openalex.org/I2800444561","https://openalex.org/I130701444"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031550835","display_name":"Ronald C. Arkin","orcid":"https://orcid.org/0000-0003-2798-1817"},"institutions":[{"id":"https://openalex.org/I130701444","display_name":"Georgia Institute of Technology","ror":"https://ror.org/01zkghx44","country_code":"US","type":"education","lineage":["https://openalex.org/I130701444"]},{"id":"https://openalex.org/I2800444561","display_name":"Atlanta Technical College","ror":"https://ror.org/01s3vfp47","country_code":"US","type":"education","lineage":["https://openalex.org/I2800444561"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Ronald C. Arkin","raw_affiliation_strings":["Georgia Tech, Atlanta, Georgia, USA"],"affiliations":[{"raw_affiliation_string":"Georgia Tech, Atlanta, Georgia, USA","institution_ids":["https://openalex.org/I2800444561","https://openalex.org/I130701444"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":34,"corresponding_author_ids":["https://openalex.org/A5056096868"],"corresponding_institution_ids":["https://openalex.org/I1292875679"],"apc_list":null,"apc_paid":null,"fwci":56.7211,"has_fulltext":true,"cited_by_count":97,"citation_normalized_percentile":{"value":0.99874882,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"2","issue":null,"first_page":"595","last_page":"636"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9951000213623047,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/homogeneous","display_name":"Homogeneous","score":0.8209267854690552},{"id":"https://openalex.org/keywords/common-ground","display_name":"Common ground","score":0.41087356209754944},{"id":"https://openalex.org/keywords/remote-sensing","display_name":"Remote sensing","score":0.38690733909606934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.38144052028656006},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.34887734055519104},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.34285837411880493},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30901721119880676},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.28360891342163086},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1376236379146576},{"id":"https://openalex.org/keywords/statistical-physics","display_name":"Statistical physics","score":0.06724867224693298},{"id":"https://openalex.org/keywords/sociology","display_name":"Sociology","score":0.06348603963851929}],"concepts":[{"id":"https://openalex.org/C66882249","wikidata":"https://www.wikidata.org/wiki/Q169336","display_name":"Homogeneous","level":2,"score":0.8209267854690552},{"id":"https://openalex.org/C2777877512","wikidata":"https://www.wikidata.org/wiki/Q1116097","display_name":"Common ground","level":2,"score":0.41087356209754944},{"id":"https://openalex.org/C62649853","wikidata":"https://www.wikidata.org/wiki/Q199687","display_name":"Remote sensing","level":1,"score":0.38690733909606934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.38144052028656006},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.34887734055519104},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.34285837411880493},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30901721119880676},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.28360891342163086},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1376236379146576},{"id":"https://openalex.org/C121864883","wikidata":"https://www.wikidata.org/wiki/Q677916","display_name":"Statistical physics","level":1,"score":0.06724867224693298},{"id":"https://openalex.org/C144024400","wikidata":"https://www.wikidata.org/wiki/Q21201","display_name":"Sociology","level":0,"score":0.06348603963851929},{"id":"https://openalex.org/C46312422","wikidata":"https://www.wikidata.org/wiki/Q11024","display_name":"Communication","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.55417/fr.2022021","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022021","pdf_url":"https://doi.org/10.55417/fr.2022021","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2104.09053","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2104.09053","pdf_url":"https://arxiv.org/pdf/2104.09053","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"doi:10.55417/fr.2022021","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022021","pdf_url":"https://doi.org/10.55417/fr.2022021","source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.8299999833106995,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320306078","display_name":"U.S. Department of Defense","ror":"https://ror.org/0447fe631"},{"id":"https://openalex.org/F4320320386","display_name":"Commonwealth Scientific and Industrial Research Organisation","ror":"https://ror.org/03qn8fb07"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320332815","display_name":"Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3157464965.pdf","grobid_xml":"https://content.openalex.org/works/W3157464965.grobid-xml"},"referenced_works_count":53,"referenced_works":["https://openalex.org/W1841642927","https://openalex.org/W1861492603","https://openalex.org/W1979426194","https://openalex.org/W1990186220","https://openalex.org/W2016316334","https://openalex.org/W2054804188","https://openalex.org/W2057265280","https://openalex.org/W2097301891","https://openalex.org/W2107667896","https://openalex.org/W2108924513","https://openalex.org/W2110867845","https://openalex.org/W2133048394","https://openalex.org/W2142544818","https://openalex.org/W2150076638","https://openalex.org/W2157488300","https://openalex.org/W2162844575","https://openalex.org/W2213648495","https://openalex.org/W2478031517","https://openalex.org/W2505589724","https://openalex.org/W2557728737","https://openalex.org/W2570056555","https://openalex.org/W2604967609","https://openalex.org/W2737564557","https://openalex.org/W2761711448","https://openalex.org/W2765226219","https://openalex.org/W2783000019","https://openalex.org/W2784142358","https://openalex.org/W2821387941","https://openalex.org/W2855708221","https://openalex.org/W2891820683","https://openalex.org/W2907172124","https://openalex.org/W2963402592","https://openalex.org/W2973985259","https://openalex.org/W2974989938","https://openalex.org/W2982402514","https://openalex.org/W3006449166","https://openalex.org/W3091001089","https://openalex.org/W3091596629","https://openalex.org/W3094453564","https://openalex.org/W3095927963","https://openalex.org/W3096654531","https://openalex.org/W3097090618","https://openalex.org/W3097215992","https://openalex.org/W3126614957","https://openalex.org/W3131341185","https://openalex.org/W3136017713","https://openalex.org/W4239072543","https://openalex.org/W6639102338","https://openalex.org/W6665600135","https://openalex.org/W6676297131","https://openalex.org/W6680073756","https://openalex.org/W6688577954","https://openalex.org/W6741621095"],"related_works":["https://openalex.org/W1546315632","https://openalex.org/W1901124962","https://openalex.org/W2486181377","https://openalex.org/W2607325685","https://openalex.org/W8712222","https://openalex.org/W4297470771","https://openalex.org/W2188102841","https://openalex.org/W3087224699","https://openalex.org/W2541137393","https://openalex.org/W2049032459"],"abstract_inverted_index":{"Heterogeneous":[0],"teams":[1],"of":[2,18,35,77,85,142],"robots,":[3],"leveraging":[4],"a":[5,94,113,119,160],"balance":[6],"between":[7],"autonomy":[8],"and":[9,38,64,105],"human":[10],"interaction,":[11],"bring":[12],"powerful":[13],"capabilities":[14],"to":[15,92,123,153],"the":[16,27,42,52,58,78,82,86,139,154],"problem":[17],"exploring":[19],"dangerous,":[20],"unstructured":[21],"subterranean":[22],"environments.":[23],"Here":[24],"we":[25],"describe":[26],"solution":[28,98],"developed":[29],"by":[30,129],"Team":[31],"CSIRO":[32],"Data61,":[33],"consisting":[34],"CSIRO,":[36],"Emesent,":[37],"Georgia":[39],"Tech,":[40],"during":[41],"DARPA":[43],"Subterranean":[44],"Challenge.":[45],"These":[46,135],"presented":[47],"systems":[48],"were":[49],"fielded":[50,79],"in":[51,55,61,65,71,115,131,150],"Tunnel":[53],"Circuit":[54,60],"August":[56],"2019,":[57],"Urban":[59],"February":[62],"2020,":[63],"our":[66],"own":[67],"Cave":[68],"event,":[69],"conducted":[70],"September":[72],"2020.":[73],"A":[74],"unique":[75],"capability":[76,141],"team":[80,156],"is":[81,90],"homogeneous":[83],"sensing":[84],"platforms":[87,145],"utilized,":[88],"which":[89,149],"used":[91],"obtain":[93],"decentralized":[95],"multi-agent":[96,126],"SLAM":[97],"on":[99,125,159],"each":[100],"platform":[101],"(both":[102],"ground":[103],"agents":[104],"UAVs)":[106],"using":[107],"peer-to-peer":[108],"communications.":[109],"This":[110],"approach":[111],"enabled":[112],"shift":[114],"focus":[116],"from":[117],"constructing":[118],"pervasive":[120],"communications":[121],"network":[122],"relying":[124],"autonomy,":[127],"motivated":[128],"experiences":[130,136],"early":[132],"circuit":[133],"events.":[134],"also":[137],"showed":[138],"surprising":[140],"rugged":[143],"tracked":[144],"for":[146],"challenging":[147],"terrain,":[148],"turn":[151],"led":[152],"heterogeneous":[155],"structure":[157],"based":[158],"BIA5":[161]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":13},{"year":2024,"cited_by_count":26},{"year":2023,"cited_by_count":26},{"year":2022,"cited_by_count":24},{"year":2021,"cited_by_count":5}],"updated_date":"2026-04-17T18:11:37.981687","created_date":"2021-05-10T00:00:00"}