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We present a field report of CTU-CRAS-NORLAB team from the SubterraneanChallenge (SubT) organised by the Defense Advanced Research Projects Agency(DARPA). The contest seeks to advance technologies that would improve thesafety and efficiency of search-and-rescue operations in GPS-deniedenvironments. During the contest rounds, teams of mobile robots have to findspecific objects while operating in environments with limited radiocommunication, e.g. mining tunnels, underground stations or natural caverns. Wepresent a heterogeneous exploration robotic system of the CTU-CRAS-NORLAB team,which achieved the third rank at the SubT Tunnel and Urban Circuit rounds andsurpassed the performance of all other non-DARPA-funded teams. The field reportdescribes the team's hardware, sensors, algorithms and strategies, anddiscusses the lessons learned by participating at the DARPA SubT contest.

System for multi-robotic exploration of underground environments CTU-CRAS-NORLAB in the DARPA Subterranean Challenge