Uploaded September 2021 | Updated September 2026, 2 weeks ago
This video is part of our work on "Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots"
In this work we present a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that underground environments, such as cave networks and underground mines, often involve complex, large-scale and multi-branched topologies, while establishing a persistent communications network may not be possible, this work is structured around the synergy of an onboard exploration path planner that allows for resilient long-term autonomy, and a centralized multi-robot coordination framework. The onboard path planner is unified across legged and flying robots and enables navigation in environments with steep slopes, and diverse geometries. When a communication link is available, each robot of the team shares submaps to a centralized location where a multi-robot coordination framework identifies global frontiers of the exploration space to best inform each system where it should re-position to best continue its mission. The proposed strategy is verified through a field deployment inside an underground mine in Switzerland using a legged and a flying robot collectively exploring for more than $45\textrm{min}$, as well as a longer simulation study involving three systems.
This video is part of our work on "Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots"
In this work we present a novel strategy for autonomous teamed exploration of subterranean environments using legged and aerial robots. Tailored to the fact that underground environments, such as cave networks and underground mines, often involve complex, large-scale and multi-branched topologies, while establishing a persistent communications network may not be possible, this work is structured around the synergy of an onboard exploration path planner that allows for resilient long-term autonomy, and a centralized multi-robot coordination framework. The onboard path planner is unified across legged and flying robots and enables navigation in environments with steep slopes, and diverse geometries. When a communication link is available, each robot of the team shares submaps to a centralized location where a multi-robot coordination framework identifies global frontiers of the exploration space to best inform each system where it should re-position to best continue its mission. The proposed strategy is verified through a field deployment inside an underground mine in Switzerland using a legged and a flying robot collectively exploring for more than $45\textrm{min}$, as well as a longer simulation study involving three systems.
