Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems, as underground settings present key challenges that can render robot autonomy hard to achieve. This problem has motivated the DARPA Subterranean Challenge, where teams of robots search for objects of interest in various underground environments. In response, we present the CERBERUS system-of-systems, as a unified strategy for subterranean exploration using legged and flying robots. Our proposed approach relies on ANYmal quadraped as primary robots, exploiting their endurance and ability to traverse challenging terrain. For aerial robots, we use both conventional and collision-tolerant multirotors to explore spaces too narrow or otherwise unreachable by ground systems. Anticipating degraded sensing conditions, we developed a complementary multimodal sensor-fusion approach, utilizing camera, LiDAR, and inertial data for resilient robot pose estimation. Individual robot pose estimates are refined by a centralized multi-robot map-optimization approach to improve the reported location accuracy of detected objects of interest in the DARPA-defined coordinate frame. Furthermore, a unified exploration path-planning policy is presented to facilitate the autonomous operation of both legged and aerial robots in complex underground networks. Finally, to enable communication among team agents and the base station, CERBERUS utilizes a ground rover with a high-gain antenna and an optical fiber connection to the base station and wireless “breadcrumb” nodes deployed by the legged robots. We report results from the CERBERUS system-of-systems deployment at the DARPA Subterranean Challenge’s Tunnel and Urban Circuit events, along with the current limitations and the lessons learned for the benefit of the community.

Autonomous exploration of subterranean environments constitutes a major frontier for robotic systems as underground settings present key challenges that can render robot autonomy hard to achieve. This has motivated the DARPA Subterranean Challenge, where teams of robots search for objects of interest in various underground environments. In response, the CERBERUS system-of-systems is presented as a unified strategy towards subterranean exploration using legged and flying robots. As primary robots, ANYmal quadruped systems are deployed considering their endurance and potential to traverse challenging terrain. For aerial robots, both conventional and collision-tolerant multirotors are utilized to explore spaces too narrow or otherwise unreachable by ground systems. Anticipating degraded sensing conditions, a complementary multi-modal sensor fusion approach utilizing camera, LiDAR, and inertial data for resilient robot pose estimation is proposed. Individual robot pose estimates are refined by a centralized multi-robot map optimization approach to improve the reported location accuracy of detected objects of interest in the DARPA-defined

Privacy concerns are constantly increasing in different sectors. Regulations such as the EU's General Data Protection Regulation (GDPR) are pressuring organizations to handle the individual's data with reinforced caution. As information systems deal with increasingly large amounts of personal data in essential services, there is a lack of mechanisms to help organizations in protecting the involved data subjects.In this paper, we propose and evaluate the use of Named Entity Recognition as a way to identify, monitor and validate Personally Identifiable Information. In our experiments, we used three of the most well-known Natural Language Processing tools (NLTK, Stanford CoreNLP, and spaCy). First, we assess the effectiveness of the tools with a generic dataset. Then, machine learning models are trained and evaluated with datasets built on data that contain personally identifiable information.The results show that models' performance was highly positive in accurately classifying both generic and more context-specific data. We observe the relationship between the datasets' training size and respective performance and estimate the appropriate size for model training within this context. Furthermore, we discuss how our proposal can effectively act as a Privacy Enhancing Technology as well as the potential risks and associated impacts.

As information systems deal with contracts and documents in essential services, there is a lack of mechanisms to help organizations in protecting the involved data subjects. In this paper, we evaluate the use of named entity recognition as a way to identify, monitor and validate personally identifiable information. In our experiments, we use three of the most well-known Natural Language Processing tools (NLTK, Stanford CoreNLP, and spaCy). First, the effectiveness of the tools is evaluated in a generic dataset. Then, the tools are applied in datasets built based on contracts that contain personally identifiable information. The results show that models' performance was highly positive in accurately classifying both the generic and the contracts' data. Furthermore, we discuss how our proposal can effectively act as a Privacy Enhancing Technology.

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