In this paper we present an experimental results-driven system design to enable more
robust and self-deployed wireless communications for robotic systems autonomously
operating in underground environments such as mines, caves, and tunnels. Subterranean
environments pose severe challenges for wireless communications as wireless signal
suffers extra power loss due to tunnel's curvatures; the existence of corners, junctions and
large obstacles inside the mines; the changes in cross section of a passage and the tilt of …

In this paper we present an experimental results-driven system design to enable more
robust and self-deployed wireless communications for robotic systems autonomously op-
erating in underground environments such as mines, caves, and tunnels. Subterranean
environments pose severe challenges for wireless communications as wireless signal
suffers extra power loss due to tunnel's curvatures; the existence of corners, junctions and
large obstacles inside the mines; the changes in cross section of a passage and the tilt of …