# CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge

> Research article (Field Robotics, 2022) · cited 108× · AI/ML

**Wikidata**: [openalex:W4225669925](https://www.wikidata.org/wiki/openalex:W4225669925)  
**Source**: https://4ort.xyz/entity/cerberus-autonomous-legged-and-aerial-robotic-exploration-in-the-tunnel-and-urban-circuits-of-the-darpa-subterranean-cha