Graph-based Exploration of Narrow Subterranean Settings @autonomousrobotslab

Uploaded February 2019 | Updated September 2026, 1 week ago

In this video we present the results of a field evaluation for the CERBERUS Aerial Scouts. The robot navigates a small, geometrically constrained passage to continue exploring the remainder of an underground mine. The presented result took place during the CERBERUS team 1st integration week at the Gonzen Mine in Switzerland.

Graph-based Exploration of Narrow Subterranean Settings

Forceful Aerial Manipulation based on an Aerial Robotic Chain: Hybrid Modeling and Control

$ICRA2022 Talk Autonomous Teamed Exploration of Subterranean Environments with Legged & Aerial Robots ICRA 2022 Talk on our paper: Mihir Kulkarni, Mihir Rahul Dharmadhikari, Marco Tranzatto, Samuel Zimmermann, Victor Reijgwart, Paolo De Petris, Huan Nguyen, Nikhil Vijay Khedekar, Christos Papachristos, Lionel Ott, Roland Siegwart, Marco Hutter, Kostas Alexis, Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots, IEEE International Conference on Robotics and Automation (ICRA), May 23-27, 2022, Philadelphia (PA), USA Abstract: 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, such as cave networks and underground mines, often involve complex, large-scale and multi-branched topologies, while wireless communication within them can be particularly challenging, this work is structured around the synergy of an onboard exploration path planner that allows for resilient long-term autonomy, and a 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 inform each system about where it should re-position to best continue its mission. The strategy is verified through a field deployment inside an underground mine in Switzerland using a legged and a flying robot collectively exploring for $45textrm{ min}$, as well as a longer simulation study with three systems. GBPlanner 2 Open-Source release: https://github.com/ntnu-arl/gbplanner_ros$

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Kostas Alexis |

Graph-based Exploration of Narrow Subterranean Settings