Uploaded February 2019 | Updated September 2026, 3 weeks ago
In this work we present new results on autonomous exploration and mapping of underground mines using aerial robots. A flying robot performing localization and mapping based on the fusion of LiDAR, LED-synchronized vision and inertial sensors, utilizes a new planning algorithm to ensure efficient and smooth exploration even in narrow subterranean settings. This new graph search-based approach exploits the real-time reconstructed structure of the subterranean environment to propose exploratory trajectories that reliably maximize the volumetric information gain over a long horizon. Overall, the robot is able to conduct resilient autonomous and long-term exploration of such underground environments even in visually-degraded and geometrically narrow and complex conditions. The presented results took place inside a metal mine in North Nevada.
In this work we present new results on autonomous exploration and mapping of underground mines using aerial robots. A flying robot performing localization and mapping based on the fusion of LiDAR, LED-synchronized vision and inertial sensors, utilizes a new planning algorithm to ensure efficient and smooth exploration even in narrow subterranean settings. This new graph search-based approach exploits the real-time reconstructed structure of the subterranean environment to propose exploratory trajectories that reliably maximize the volumetric information gain over a long horizon. Overall, the robot is able to conduct resilient autonomous and long-term exploration of such underground environments even in visually-degraded and geometrically narrow and complex conditions. The presented results took place inside a metal mine in North Nevada.
