/Recent Developments in Subterranean Robotics

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 Article, Carnegie Mellon University, Journal of Field Robotics, Vol. 23, No. 1, pp. 35-57, January, 2006

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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.

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