The Defense Advanced Research Projects Agency (DARPA) has selected the teams that will compete in the Subterranean Challenge. The multi-year robotics competition incentive is a $2 million prize which will result in robots that will autonomously search tunnels, caves, and underground structures. The competition aims to better equip warfighters and first responders to explore human-made tunnel systems, urban underground, and natural cave networks that are too dangerous, dark, or deep to risk human lives. The seven teams in the Systems competition challenge will develop and demonstrate physical systems in real-world environments. The teams selected in the Virtual competition will use simulation models and physics-based environments focusing on software-driven advances.