Nearly half a century ago, two papers postulated the likelihood of lunar lava tube caves
using mathematical models. Today, armed with an array of orbiting and fly‐by satellites and …

This work presents a field-hardened autonomous multimodal legged-aerial robotic system
for subterranean exploration, extending a legged robot to be the carrier of an aerial platform …

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 …

The technological advancement in Unmanned Aerial Vehicles (UAVs) or drones and their
deployment in real-life Search and Rescue (SAR) missions is imminent. We, therefore …

The deployment of autonomous robots in harsh and unpredictable environments has gained
significant attention in recent years, driven by the need to improve safety and efficiency in …

This paper presents a trade study analysis to design and evaluate the perception system
architecture for ReachBot. ReachBot is a novel robotic concept that uses grippers at the end …

This paper describes the partial automation of drones (also referred to as uncrewed aerial
vehicles, UAVs, or aerial robots) in populated areas within the visual line-of-sight of their …

Moments of inertia define the amount of torque needed to rotate an object at a defined
angular acceleration around a given axis. With the limited information available for multi …

ROVIO is one of the state-of-the-art monocular visual inertial odometry algorithms. It uses an
Iterative Extended Kalman Filter (IEKF) to align visual features and update the vehicle state …

Indoor exploration is an important task in disaster relief, emergency response scenarios, and
Search And Rescue (SAR) missions. Unmanned Aerial Vehicle (UAV) systems can aid first …