{"id":"https://openalex.org/W4321182769","doi":"https://doi.org/10.55417/fr.2023008","title":"Autonomous Multi-Robot Exploration with Ground Vehicles in DARPA Subterranean Challenge Finals","display_name":"Autonomous Multi-Robot Exploration with Ground Vehicles in DARPA Subterranean Challenge Finals","publication_year":2023,"publication_date":"2023-02-01","ids":{"openalex":"https://openalex.org/W4321182769","doi":"https://doi.org/10.55417/fr.2023008"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2023008","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2023008","pdf_url":null,"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":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2023008","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5012905658","display_name":"Jan Bayer","orcid":"https://orcid.org/0000-0003-1190-1085"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Jan Bayer","raw_affiliation_strings":["Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic","Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic,"],"raw_orcid":"https://orcid.org/0000-0003-1190-1085","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic,","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5038542788","display_name":"Petr \u010c\u00ed\u017eek","orcid":"https://orcid.org/0000-0001-6722-3928"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":false,"raw_author_name":"Petr C\u00ed\u017eek","raw_affiliation_strings":["Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic"],"raw_orcid":"https://orcid.org/0000-0001-6722-3928","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5073496345","display_name":"Jan Faigl","orcid":"https://orcid.org/0000-0002-6193-0792"},"institutions":[{"id":"https://openalex.org/I44504214","display_name":"Czech Technical University in Prague","ror":"https://ror.org/03kqpb082","country_code":"CZ","type":"education","lineage":["https://openalex.org/I44504214"]}],"countries":["CZ"],"is_corresponding":true,"raw_author_name":"Jan Faigl","raw_affiliation_strings":["Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic","Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic,"],"raw_orcid":"https://orcid.org/0000-0002-6193-0792","affiliations":[{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic","institution_ids":["https://openalex.org/I44504214"]},{"raw_affiliation_string":"Faculty of Electrical Engineering, Czech Technical University in Prague, Czech Republic,","institution_ids":["https://openalex.org/I44504214"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5012905658","https://openalex.org/A5073496345"],"corresponding_institution_ids":["https://openalex.org/I44504214"],"apc_list":null,"apc_paid":null,"fwci":2.1521,"has_fulltext":true,"cited_by_count":12,"citation_normalized_percentile":{"value":0.86908057,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":99},"biblio":{"volume":"3","issue":null,"first_page":"266","last_page":"300"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T13382","display_name":"Robotics and Automated Systems","score":0.9901000261306763,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems 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/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9722999930381775,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9606000185012817,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/robot","display_name":"Robot","score":0.8129292726516724},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.6724510192871094},{"id":"https://openalex.org/keywords/event","display_name":"Event (particle physics)","score":0.5296249985694885},{"id":"https://openalex.org/keywords/supervisor","display_name":"Supervisor","score":0.4978525638580322},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4949130415916443},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.47253990173339844},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.46251311898231506},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.44644850492477417},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4188441038131714},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.40140846371650696},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.37518835067749023},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3724392354488373},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.34139400720596313},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.32783597707748413},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11221936345100403},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.09415808320045471}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.8129292726516724},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.6724510192871094},{"id":"https://openalex.org/C2779662365","wikidata":"https://www.wikidata.org/wiki/Q5416694","display_name":"Event (particle physics)","level":2,"score":0.5296249985694885},{"id":"https://openalex.org/C2779110517","wikidata":"https://www.wikidata.org/wiki/Q1240788","display_name":"Supervisor","level":2,"score":0.4978525638580322},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4949130415916443},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.47253990173339844},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.46251311898231506},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44644850492477417},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4188441038131714},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.40140846371650696},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.37518835067749023},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3724392354488373},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.34139400720596313},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32783597707748413},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11221936345100403},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.09415808320045471},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.55417/fr.2023008","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2023008","pdf_url":null,"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"}],"best_oa_location":{"id":"doi:10.55417/fr.2023008","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2023008","pdf_url":null,"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":[],"awards":[{"id":"https://openalex.org/G7102010665","display_name":null,"funder_award_id":"19-20238S","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"},{"id":"https://openalex.org/G8829710628","display_name":null,"funder_award_id":"20-29531S","funder_id":"https://openalex.org/F4320321006","funder_display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky"}],"funders":[{"id":"https://openalex.org/F4320321006","display_name":"Grantov\u00e1 Agentura \u010cesk\u00e9 Republiky","ror":"https://ror.org/01pv73b02"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":66,"referenced_works":["https://openalex.org/W82838842","https://openalex.org/W349051140","https://openalex.org/W1567242735","https://openalex.org/W1580721220","https://openalex.org/W1953793983","https://openalex.org/W1966213627","https://openalex.org/W2002792327","https://openalex.org/W2029828627","https://openalex.org/W2030053437","https://openalex.org/W2044435848","https://openalex.org/W2058626008","https://openalex.org/W2059096630","https://openalex.org/W2077444422","https://openalex.org/W2083534342","https://openalex.org/W2089437550","https://openalex.org/W2089565097","https://openalex.org/W2097301891","https://openalex.org/W2107667896","https://openalex.org/W2113739894","https://openalex.org/W2117211893","https://openalex.org/W2125188427","https://openalex.org/W2142924305","https://openalex.org/W2150076638","https://openalex.org/W2155620850","https://openalex.org/W2167896722","https://openalex.org/W2213648495","https://openalex.org/W2517828448","https://openalex.org/W2530835184","https://openalex.org/W2536431081","https://openalex.org/W2794292089","https://openalex.org/W2799058090","https://openalex.org/W2933760463","https://openalex.org/W2953919662","https://openalex.org/W2965215408","https://openalex.org/W2968165677","https://openalex.org/W2973985259","https://openalex.org/W3006449166","https://openalex.org/W3094453564","https://openalex.org/W3095927963","https://openalex.org/W3097090618","https://openalex.org/W3131341185","https://openalex.org/W3157464965","https://openalex.org/W3159907955","https://openalex.org/W3180368855","https://openalex.org/W3182193940","https://openalex.org/W3186960480","https://openalex.org/W3206434649","https://openalex.org/W3206478227","https://openalex.org/W3208082090","https://openalex.org/W4225669925","https://openalex.org/W4235735721","https://openalex.org/W4241543438","https://openalex.org/W4253729359","https://openalex.org/W4281479885","https://openalex.org/W4284889893","https://openalex.org/W4286581933","https://openalex.org/W4391794847","https://openalex.org/W4396541750","https://openalex.org/W6639148163","https://openalex.org/W6641114771","https://openalex.org/W6676887385","https://openalex.org/W6677547146","https://openalex.org/W6681447365","https://openalex.org/W6683050684","https://openalex.org/W6688577954","https://openalex.org/W6758547353"],"related_works":["https://openalex.org/W2131012217","https://openalex.org/W2131357063","https://openalex.org/W2980055948","https://openalex.org/W2139992381","https://openalex.org/W2786412097","https://openalex.org/W2056768200","https://openalex.org/W1968704373","https://openalex.org/W2085578998","https://openalex.org/W1514516386","https://openalex.org/W2542192454"],"abstract_inverted_index":{"Autonomous":[0],"navigation":[1,64],"and":[2,62,83,97,125],"multi-robot":[3,53,98],"exploration":[4,77,134],"framework":[5,78,158,164,201,243],"for":[6,86,111,172],"ground":[7,91,179,209],"robots":[8,124,239],"are":[9,67],"key":[10],"parts":[11],"of":[12,25,90,132,146,149,177,207,220,232],"the":[13,18,22,26,32,73,130,133,143,156,160,169,173,178,188,199,218,221,229,233,242],"robotic":[14],"system":[15],"deployed":[16],"by":[17,31,154,198,241],"team":[19,89,183,206],"CTU-CRAS-NORLAB":[20],"in":[21,39,55,93,129,159,168,187],"final":[23],"event":[24],"Subterranean":[27],"(SubT)":[28],"Challenge":[29,43],"organized":[30],"Defense":[33],"Advanced":[34],"Research":[35],"Projects":[36],"Agency":[37],"(DARPA)":[38],"2021.":[40],"The":[41,103,136,163],"SubT":[42,161,222,234],"aimed":[44],"to":[45,49,141,202],"advance":[46],"technologies":[47],"related":[48],"search-and-rescue":[50],"missions":[51],"with":[52,100,116],"systems":[54,66],"underground":[56],"environments":[57],"where":[58,181,236],"communication":[59],"is":[60,126,139,152],"unavailable":[61],"global":[63],"satellite":[65],"denied.":[68],"This":[69],"field":[70],"report":[71,212],"describes":[72],"developed":[74,104,157],"multi-":[75],"robot":[76],"focusing":[79],"on":[80,213],"planning,":[81],"exploration,":[82],"traversability":[84,113],"estimation":[85,114],"a":[87,107,117,191,204],"heterogeneous":[88,147,205],"vehicles":[92],"large-scale":[94],"rough":[95],"terrains":[96],"coordination":[99,145],"limited":[101],"communication.":[102],"method":[105],"employs":[106],"dense":[108],"local":[109],"mapping":[110],"precise":[112],"combined":[115],"sparse":[118],"topometrical":[119,137],"map":[120,138],"shareable":[121],"between":[122],"multiple":[123],"thus":[127],"used":[128],"decision-making":[131],"strategy.":[135],"designed":[140],"support":[142],"decentralized":[144],"teams":[148],"robots,":[150,180],"which":[151],"demonstrated":[153],"deploying":[155],"competitions.":[162],"has":[165],"been":[166],"employed":[167],"Virtual":[170],"track":[171],"full":[174],"autonomous":[175,195],"control":[176,203],"our":[182],"scored":[184],"second.":[185],"Besides,":[186],"Systems":[189],"track,":[190],"human":[192],"supervisor":[193],"exploited":[194],"behaviors":[196],"provided":[197],"proposed":[200],"six":[208],"robots.":[210],"We":[211],"real-world":[214],"experimental":[215],"results":[216,227],"from":[217,228],"deployment":[219],"Challenge.":[223],"Furthermore,":[224],"we":[225],"present":[226],"post-event":[230],"testing":[231],"Challenge,":[235],"three":[237],"quadruped":[238],"controlled":[240],"explored":[244],"over":[245],"five":[246],"hundred":[247],"meters":[248],"fully":[249],"autonomously.":[250]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":8},{"year":2024,"cited_by_count":2}],"updated_date":"2025-12-24T23:09:58.560324","created_date":"2025-10-10T00:00:00"}
