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Implementing a wireless mesh network in a real-life scenario requires asignificant systems engineering effort to turn a network concept into acomplete system. This paper presents an evaluation of a fielded system withinthe DARPA Subterranean (SubT) Challenge Final Event that contributed to a 3rdplace finish. Our system included a team of air and ground robots, deployablemesh extender nodes, and a human operator base station. This paper presents areal-world evaluation of a stack optimized for air and ground roboticexploration in a RF-limited environment under practical system designlimitations. Our highly customizable solution utilizes a minimum of non-freecomponents with form factor options suited for UAV operations and providesinsight into network operations at all levels. We present performance metricsbased on our performance in the Final Event of the DARPA SubterraneanChallenge, demonstrating the practical successes and limitations of ourapproach, as well as a set of lessons learned and suggestions for futureimprovements.

Heterogeneous Ground-Air Autonomous Vehicle Networking in Austere  Environments: Practical Implementation of a Mesh Network in the DARPA  Subterranean Challenge