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 …

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 …

This letter presents a self-contained system for the robust utilization of aerial robots in the
autonomous exploration of cave environments to help human explorers, first responders …

This paper describes a novel autonomous ground vehicle that is designed for exploring
unknown environments which contain sources of ionising radiation, such as might be found …

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

Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they
incorporate both the high mobility of aerial vehicles and the long endurance of ground …

This letter presents a complete framework Meeting-Merging-Mission for multi-robot
exploration under communication restriction. Considering communication is limited in both …

We present a method for autonomous exploration of large-scale unknown environments
under mission time con-straints. We start by proposing the Frontloaded Information Gain …