The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots to explore difficult unknown underground environments. Categorised in to human-made tunnels, underground urban infrastructure and natural caves, each of these subdomains had many challenging elements for robot perception, locomotion, navigation and autonomy. These included degraded wireless communication, poor visibility due to smoke, narrow passages and doorways, clutter, uneven ground, slippery and loose terrain, stairs, ledges, overhangs, dripping water, and dynamic obstacles that move to block paths among others. In the Final Event of this challenge held in September 2021, the course consisted of all three subdomains. The task was for the robot team to perform a scavenger hunt for a number of pre-defined artefacts within a limited time frame. Only one human supervisor was allowed to communicate with the robots once they were in the course. Points were scored when accurate detections and their locations were communicated back to the scoring server. A total of 8 teams competed in the finals held at the Mega Cavern in Louisville, KY, USA. This article describes the systems deployed by Team CSIRO Data61 that tied for the top score and won second place at the event.

翻译：DARPA Subterranean Challenge Challenge是为竞争者设计的,以开发和部署自主机器人小组,探索困难的未知地下环境,将每个子领域分为人为的隧道、地下城市基础设施和自然洞穴,每个子领域都有关于机器人感知、移动、导航和自主的许多挑战性要素,其中包括无线通信退化、烟雾导致可见度差、通道和门道窄小、地势不均、地势不均、地势滑滑坡和松散、楼梯、领头、悬浮、滴水、以及通向阻隔路的动态障碍等。在2021年9月举办的这次挑战的最后一次会议上,由所有三个子领域组成。机器人小组的任务是在有限的时限内对一些预先界定的人工物品进行搜救。只有一名人类监督员获准在操作过程中与机器人进行通信。当准确的探测和位置被传达回到评分服务器时,得分数。在路易斯维尔的Mega Crowrn举行的决决决决赛中,共有8个小组在最后一场比赛中竞争了所有三个次次次次活动。这是机器人小组在CKY,这是在Crieville上部署的Crievle的排名。</s>