Present and future of slam in extreme environments: The darpa subt challenge
This article surveys recent progress and discusses future opportunities for simultaneous
localization and map** (SLAM) in extreme underground environments. SLAM in …
localization and map** (SLAM) in extreme underground environments. SLAM in …
[HTML][HTML] Multimodality robotic systems: Integrated combined legged-aerial mobility for subterranean search-and-rescue
This work presents a field-hardened autonomous multimodal legged-aerial robotic system
for subterranean exploration, extending a legged robot to be the carrier of an aerial platform …
for subterranean exploration, extending a legged robot to be the carrier of an aerial platform …
UAVs beneath the surface: Cooperative autonomy for subterranean search and rescue in DARPA SubT
This paper presents a novel approach for autonomous cooperating UAVs in search and
rescue operations in subterranean domains with complex topology. The proposed system …
rescue operations in subterranean domains with complex topology. The proposed system …
A Tree-based Next-best-trajectory Method for 3D UAV Exploration
This work presents a fully integrated tree-based combined exploration-planning algorithm:
exploration-rapidly-exploring random trees (RRT)(ERRT). The algorithm is focused on …
exploration-rapidly-exploring random trees (RRT)(ERRT). The algorithm is focused on …
Frame: Fast and robust autonomous 3d point cloud map-merging for egocentric multi-robot exploration
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous
multi-robot exploration, based on overlap detection and alignment, that is independent of a …
multi-robot exploration, based on overlap detection and alignment, that is independent of a …
[HTML][HTML] 3DEG: Data-Driven Descriptor Extraction for Global re-localization in subterranean environments
Localization algorithms that rely on 3D LiDAR scanners often encounter temporary failures
due to various factors, such as sensor faults, dust particles, or drifting. These failures can …
due to various factors, such as sensor faults, dust particles, or drifting. These failures can …
Communication-Aware Control of Large Data Transmissions via Centralized Cognition and 5G Networks for Multi-Robot Map merging
Multiple modern robotic applications benefit from centralized cognition and processing
schemes. However, modern equipped robotic platforms can output a large amount of data …
schemes. However, modern equipped robotic platforms can output a large amount of data …
Towards Visual Inspection of Distributed and Irregular Structures: A Unified Autonomy Approach
This paper highlights the significance of maintaining and enhancing situational awareness
in Urban Search and Rescue (USAR) missions. It focuses specifically on investigating the …
in Urban Search and Rescue (USAR) missions. It focuses specifically on investigating the …