This article surveys recent progress and discusses future opportunities for simultaneous
localization and map** (SLAM) in extreme underground environments. SLAM in …

This paper reports on the state of the art in underground SLAM by discussing different SLAM
strategies and results across six teams that participated in the three-year-long SubT …

Autonomous exploration of subterranean environments constitutes a major frontier for
robotic systems as underground settings present key challenges that can render robot …

This paper presents a novel strategy for autonomous graph-based exploration path planning
in subterranean environments. Attuned to the fact that subterranean settings, such as …

Resilient pose estimation for autonomous systems, and especially small unmanned aerial
robots, is one of the core capabilities required for these robots to perform their assigned …

Autonomous navigation of microaerial vehicles in environments that are simultaneously
GPS‐denied and visually degraded, and especially in the dark, texture‐less and dust‐or …

Limited navigation capabilities of many current robots and UAVs restricts their applications
in GPS denied areas. Large aircraft with complex navigation systems rely on a variety of …

This paper proposes an approach for fusing direct radiometric data from a thermal camera
with inertial measurements to extend the robotic capabilities of aerial robots for navigation in …

Visual odometry shows excellent performance in a wide range of environments. However, in
visually-denied scenarios (eg heavy smoke or darkness), pose estimates degrade or even …

In this paper we present a comprehensive solution for autonomous underground mine
rescue using aerial robots. In particular, a new class of Micro Aerial Vehicles are equipped …