Present and future of slam in extreme environments: The darpa subt challenge
This article surveys recent progress and discusses future opportunities for simultaneous
localization and mapping (SLAM) in extreme underground environments. SLAM in …
localization and mapping (SLAM) in extreme underground environments. SLAM in …
Into the robotic depths: analysis and insights from the DARPA subterranean challenge
The Defense Advanced Research Projects Agency (DARPA) Subterranean Challenge
represented a multiyear (2018–2021), competition-based initiative to inspire and shape the …
represented a multiyear (2018–2021), competition-based initiative to inspire and shape the …
Scientific exploration of challenging planetary analog environments with a team of legged robots
The interest in exploring planetary bodies for scientific investigation and in situ resource
utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art …
utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-the-art …
Fast traversability estimation for wild visual navigation
Natural environments such as forests and grasslands are challenging for robotic navigation
because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this …
because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this …
Present and future of slam in extreme underground environments
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 …
strategies and results across six teams that participated in the three-year-long SubT …
[HTML][HTML] Configurations and applications of multi-agent hybrid drone/unmanned ground vehicle for underground environments: A review
C Dinelli, J Racette, M Escarcega, S Lotero, J Gordon… - Drones, 2023 - mdpi.com
Subterranean openings, including mines, present a unique and challenging environment for
robots and autonomous exploration systems. Autonomous robots that are created today will …
robots and autonomous exploration systems. Autonomous robots that are created today will …
A Survey on the autonomous exploration of confined subterranean spaces: Perspectives from real-word and industrial robotic deployments
Confined and subterranean areas are common in many civilian and industrial sites,
although they are hazardous for humans given the presence of noxious gases, extreme …
although they are hazardous for humans given the presence of noxious gases, extreme …
Wild-places: A large-scale dataset for lidar place recognition in unstructured natural environments
J Knights, K Vidanapathirana… - … on robotics and …, 2023 - ieeexplore.ieee.org
Many existing datasets for lidar place recognition are solely representative of structured
urban environments, and have recently been saturated in performance by deep learning …
urban environments, and have recently been saturated in performance by deep learning …
Towards collaborative simultaneous localization and mapping: a survey of the current research landscape
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 …
survey of the scientific literature on the topic of Collaborative Simultaneous Localization and …
Wildcat: Online continuous-time 3d lidar-inertial slam
We present Wildcat, a novel online 3D lidar-inertial SLAM system with exceptional versatility
and robustness. At its core, Wildcat combines a robust real-time lidar-inertial odometry …
and robustness. At its core, Wildcat combines a robust real-time lidar-inertial odometry …