This article surveys recent progress and discusses future opportunities for simultaneous
localization and mapping (SLAM) in extreme underground environments. SLAM in …

This paper reports on the state of the art in underground SLAM by discussing different SLAM
strategies and results across six teams that participated in the three-year-long SubT …

Search and rescue with a team of heterogeneous mobile robots in unknown and large-scale
underground environments requires high-precision localization and mapping. This crucial …

Motivated by the tremendous progress we witnessed in recent years, this paper presents a
survey of the scientific literature on the topic of Collaborative Simultaneous Localization and …

This paper presents a novel approach for autonomous cooperating UAVs in search and
rescue operations in subterranean domains with complex topology. The proposed system …

Reliable robot pose estimation is a key building block of many robot autonomy pipelines,
with LiDAR localization being an active research domain. In this work, a versatile self …

The rapid developments of mobile robotics and autonomous navigation over the years are
largely empowered by public datasets for testing and upgrading, such as sensor odometry …

We present the DLR Planetary Stereo, Solid-State LiDAR, Inertial (S3LI) dataset, recorded
on Mt. Etna, Sicily, an environment analogous to the Moon and Mars, using a hand-held …

Simultaneous localization and mapping (SLAM) system typically employs vision-based
sensors to observe the surrounding environment. However, the performance of such …

This article presents a dataset collected from the subterranean (SubT) environment with a
current state-of-the-art sensors required for autonomous navigation. The dataset includes …