---
title: "NeBula"
type: concept
related: [Nebula, Double Progressive Widening]
source: https://www.jemoka.com/posts/kbhnebula/
confidence: high
status: active
---

Framework for subsurface exploration: a DARPA challenge that explores unknown underground environments.
Main Problem: there is a high degree of uncertainty that comes from multiple different systems interacting:
sensing environment command execution communication mission state health of systems and subsystems NeBula treats uncertainty between systems via a POMDP:
construct a simulation of the tasks to coordinate robots solved using Double Progressive Widening AISR NeBula NeBula autonomy framework extrapolation on an active source seeking. For instance, combining with semantic understanding, we want to &ldquo;find the red backpack&rdquo;.
multi-model semantic understanding learning based mobility (vis a vi NeBula) semantic aware source seeking (&ldquo;finding the thing there&rdquo;)
