In recent years, unmanned aerial vehicles (UAVs) have gained popularity due to their
flexibility, mobility, and accessibility in various fields, including search and rescue (SAR) …

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

This paper presents a novel strategy for autonomous teamed exploration of subterranean
environments using legged and aerial robots. Tailored to the fact that subterranean settings …

Decentralized state estimation is one of the most fundamental components of autonomous
aerial swarm systems in GPS-denied areas; yet, it remains a highly challenging research …

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 paper presents a modular autonomous Unmanned Aerial Vehicle (UAV) platform called
the Multi-robot System (MRS) Drone that can be used in a large range of indoor and outdoor …

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 …

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 …

Although the use of multiple unmanned aerial vehicles (UAVs) has great potential for fast
autonomous exploration, it has received far too little attention. In this article, we present a …

This paper presents a family of autonomous Unmanned Aerial Vehicles (UAVs) platforms
designed for a diverse range of indoor and outdoor applications. The proposed UAV design …