The Robotics Institute

Carnegie Mellon Robotics Institute

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Robotic systems exhibit remarkable capability for exploring and mapping subterranean voids. Information about subterranean spaces has immense value for civil, security, and commercial applications where problems, such as encroachment, collapse, flooding and subsidence can occur. Contemporary method for underground mapping, such as human surveys and geophysical techniques, can provide estimates of void location, but cannot achieve the coverage, quality, or economy of robotic approaches. This article presents the challenges, mechanisms, sensing, and software of subterranean robots. Results obtained from operations in active, abandoned, and submerged subterranean spaces will also be shown.

Notes

Associated Center(s) / Consortia: Field Robotics Center

Number of pages: 23

Text Reference

Aaron Christopher Morris, David Ferguson, Zachary Omohundro, David Bradley, David Silver, Christopher R. Baker , Scott Thayer, Chuck Whittaker, and William (Red) L. Whittaker, "Recent Developments in Subterranean Robotics," Journal of Field Robotics, Vol. 23, No. 1, January, 2006, pp. 35-57.

BibTeX Reference

@article{Morris_2006_5316,
   author = "Aaron Christopher Morris and David Ferguson and Zachary Omohundro and David Bradley and David Silver and Christopher R. {Baker } and Scott Thayer and Warren Whittaker and William (Red) L. Whittaker",
   title = "Recent Developments in Subterranean Robotics",
   journal = "Journal of Field Robotics",
   pages = "35-57",
   publisher = "Wiley Periodicals",
   month = "January",
   year = "2006",
   volume = "23",
   number = "1",
}

The Robotics Institute

Menu