Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots
Mihir Kulkarni,Mihir Dharmadhikari,Marco Tranzatto,Samuel Zimmermann,Victor Reijgwart,Paolo De Petris,Huan Nguyen,Nikhil Khedekar,Christos Papachristos,Lionel Ott,Roland Siegwart,Marco Hutter,Kostas Alexis,Mihir Kulkarni,Mihir Dharmadhikari,Marco Tranzatto,Samuel Zimmermann,Victor Reijgwart,Paolo De Petris,Huan Nguyen,Nikhil Khedekar,Christos Papachristos,Lionel Ott,Roland Siegwart,Marco Hutter,Kostas Alexis
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...
