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Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale underground environments requires high-precision localization and mapping.
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2012
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D. Tardioli, L. Riazuelo, T. Seco, J. Espelosín, J. Lalana, J. Villarroel, and L. Montano, “A robotized dumper for debris removal in tunnels under construction,” 11 2018, pp. 126–139
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M. Labbé, “Rtab-map as an open-source lidar and visual slam library for large-scale and long-term online operation,” 2018
2018
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T. Shan and B. Englot, “Lego-loam: Lightweight and ground-optimized lidar odometry and mapping on variable terrain,” 10 2018, pp. 4758–4765
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J. Gross, M. De Petrillo, J. Beard, H. Nichols, T. Swiger, R. Watson, C. Kirk, C. Kilic, J. Hikes, E. Upton, D. Ross, M. Russell, Y. Gu, and C. Griffin, “Field-testing of a uav-ugv team for gnss-denied navigation in subterranean environments,” 10 2019, pp. 2112–2124
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A. Santamaria-Navarro, R. Thakker, D. D. Fan, B. Morrell, and A. akbar Agha-mohammadi, “Towards resilient autonomous navigation of drones,” in ISRR , 2019
2019
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K. Ebadi, Y. Chang, M. Palieri et al. , “Lamp: Large-scale autonomous mapping and positioning for exploration of perceptually-degraded subterranean environments,” 2020 IEEE International Conference on Robotics and Automation (ICRA) , pp. 80–86, 2020
2020
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M. Palieri, B. Morrell, A. Thakur, K. Ebadi, J. Nash, A. Chatterjee, C. Kanellakis, L. Carlone, C. Guaragnella, and A.-a. Agha-mohammadi, “Locus: A multi-sensor lidar-centric solution for high-precision odometry and 3d mapping in real-time,” IEEE Robotics and Automation Letters , vol. PP, pp. 1–1, 12 2020
2020
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T. Rouček, M. Pecka, P. Čížek, T. Petricek, J. Bayer, V. Šalanský, D. Hert, M. Petrlík, T. Báča, V. Spurný, F. Pomerleau, V. Kubelka, J. Faigl, K. Zimmermann, M. Saska, T. Svoboda, and T. Krajník, DARPA Subterranean Challenge: Multi-robotic Exploration of Underground Environments , 03 2020, pp. 274–290
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K. Ebadi, M. Palieri, S. Wood, C. Padgett, and A.-a. Agha-mohammadi, “Dare-slam: Degeneracy-aware and resilient loop closing in perceptually-degraded environments,” Journal of Intelligent & Robotic Systems , vol. 102, 05 2021
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A. Kramer, M. Kasper, and C. Heckman, VI-SLAM for Subterranean Environments , 01 2021, pp. 159–172
2021
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V. Krátký, P. Petráček, T. Báča, and M. Saska, “An autonomous unmanned aerial vehicle system for fast exploration of large complex indoor environments,” Journal of Field Robotics , vol. 38, 05 2021
2021
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2020
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M. Petrlík, T. Báča, D. Heřt, M. Vrba, T. Krajník, and M. Saska, “A robust uav system for operations in a constrained environment,” IEEE Robotics and Automation Letters , vol. 5, no. 2, pp. 2169–2176, 2020
2020
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A. Bouman, M. F. Ginting, N. Alatur et al. , “Autonomous spot: Long-range autonomous exploration of extreme environments with legged locomotion,” in 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2020, pp. 2518–2525
2020
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J. Williams, S. Jiang, M. O’Brien, G. Wagner, E. Hernandez, M. Cox, A. Pitt, R. Arkin, and N. Hudson, “Online 3d frontier-based ugv and uav exploration using direct point cloud visibility,” in 2020 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI) , 2020, pp. 263–270
2020
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I. Miller, A. Cohen, A. Kulkarni, J. Laney, C. Taylor, V. Kumar, F. Cladera, A. Cowley, S. Skandan, E. Lee, L. Lipschitz, A. Bhat, N. Rodrigues, and A. Zhou, “Mine tunnel exploration using multiple quadrupedal robots,” IEEE Robotics and Automation Letters , vol. PP, pp. 1–1, 02 2020
2020
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T. Dang, F. Mascarich, S. Khattak, H. Nguyen, H. Nguyen, S. Hirsh, R. Reinhart, C. Papachristos, and K. Alexis, “Autonomous search for underground mine rescue using aerial robots,” in 2020 IEEE Aerospace Conference , 2020, pp. 1–8
2020
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S. Khattak, H. Nguyen, F. Mascarich, T. Dang, and K. Alexis, “Complementary multi–modal sensor fusion for resilient robot pose estimation in subterranean environments,” in 2020 International Conference on Unmanned Aircraft Systems (ICUAS) , 2020, pp. 1024–1029
2020
Cited alongside, same era.
J. P. Queralta, J. Taipalmaa, B. Can Pullinen, V. K. Sarker, T. Nguyen Gia, H. Tenhunen, M. Gabbouj, J. Raitoharju, and T. Westerlund, “Collaborative multi-robot search and rescue: Planning, coordination, perception, and active vision,” IEEE Access , vol. 8, pp. 191 617–191 643, 2020
2020
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J. Bayer and J. Faigl, “Speeded up elevation map for exploration of large-scale subterranean environments,” in Modelling and Simulation for Autonomous Systems , J. Mazal, A. Fagiolini, and P. Vasik, Eds. Cham: Springer International Publishing, 2020, pp. 190–202
2020
Cited alongside, same era.
M. F. Ginting, K. Otsu, J. A. Edlund, J. Gao, and A.-A. Agha-Mohammadi, “Chord: Distributed data-sharing via hybrid ros 1 and 2 for multi-robot exploration of large-scale complex environments,” IEEE Robotics and Automation Letters , vol. 6, no. 3, pp. 5064–5071, 2021
2021
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H. Azpúrua, M. F. M. Campos, and D. G. Macharet, “Three-dimensional terrain aware autonomous exploration for subterranean and confined spaces,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) , 2021, pp. 2443–2449
2021
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D. Wisth, M. Camurri, S. Das, and M. Fallon, “Unified multi-modal landmark tracking for tightly coupled lidar-visual-inertial odometry,” IEEE Robotics and Automation Letters , vol. PP, pp. 1–1, 02 2021
2021
Later among the works it cites.
2021
Later among the works it cites.
B. Tidd, A. Cosgun, J. Leitner, and N. Hudson, “Passing through narrow gaps with deep reinforcement learning,” 03 2021
2021
Later among the works it cites.
B. Lindqvist, C. Kanellakis, S. Mansouri, A.-a. Agha-mohammadi, and G. Nikolakopoulos, “Compra: A compact reactive autonomy framework for subterranean mav based search-and-rescue operations,” 08 2021
2021
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J. Rogers, A. Schang, C. Nieto-Granda, J. Ware, J. Carter, J. Fink, and E. Stump, The DARPA SubT Urban Circuit Mapping Dataset and Evaluation Metric , 03 2021, pp. 391–401
2021
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Y. Chang, Y. Tian, J. P. How, and L. Carlone, “Kimera-multi: a system for distributed multi-robot metric-semantic simultaneous localization and mapping,” 2021 IEEE International Conference on Robotics and Automation (ICRA) , pp. 11 210–11 218, 2021
2021
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2021
Later among the works it cites.
H. Yang, J. Shi, and L. Carlone, “Teaser: Fast and certifiable point cloud registration,” IEEE Transactions on Robotics , vol. 37, no. 2, pp. 314–333, 2021
2021
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Y. Tian, Y. Chang, F. H. Arias, C. Nieto-Granda, J. P. How, and L. Carlone, “Kimera-multi: Robust, distributed, dense metric-semantic slam for multi-robot systems,” IEEE Transactions on Robotics , 2022
2022
Closest in time.
A. Reinke, M. Palieri, B. Morrell, Y. Chang, K. Ebadi, L. Carlone, and A. akbar Agha-mohammadi, “Locus 2.0: Robust and computationally efficient lidar odometry for real-time underground 3d mapping,” 2022
2022
Closest in time.