Noisy sensing, imperfect control, and environment changes are defining characteristics of
many real-world robot tasks. The partially observable Markov decision process (POMDP) …

Although ground robotic autonomy has gained widespread usage in structured and
controlled environments, autonomy in unknown and off-road terrain remains a difficult …

Nearly half a century ago, two papers postulated the likelihood of lunar lava tube caves
using mathematical models. Today, armed with an array of orbiting and fly‐by satellites and …

We provide the first solar system wide compendium of speleogenic processes and products.
An examination of 15 solar system bodies revealed that six cave‐forming processes occur …

Confined and subterranean areas are common in many civilian and industrial sites,
although they are hazardous for humans given the presence of noxious gases, extreme …

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 …

This article establishes the Exploration-RRT algorithm: A novel general-purpose combined
exploration and path planning algorithm, based on a multi-goal Rapidly-Exploring Random …

Communication is an important capability for multi-robot exploration because (1) inter-robot
communication (comms) improves coverage efficiency and (2) robot-to-base comms …

One of the main challenges in autonomous robotic exploration and navigation in unknown
and unstructured environments is determining where the robot can or cannot safely move. A …

Uncertainty has long been a critical area of study in robotics, particularly when robots are
equipped with analytical models. As we move towards the widespread use of deep neural …