Recent Developments in Subterranean Robotics

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


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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",
}