Graph‐based subterranean exploration path planning using aerial and legged robots

Tung Dang, Marco Tranzatto, Shehryar Khattak, +3

Journal of Field Robotics

Topological PropertiesEngineeringGlobal PlanningField RoboticsAbstract Autonomous Exploration +15

Graph-based Path Planning for Autonomous Robotic Exploration in Subterranean Environments

Tung Dang, Frank Mascarich, Shehryar Khattak, +2

Artificial IntelligenceEngineeringField RoboticsGraph-based Path PlanningMine Heading +15

Complementary Multi–Modal Sensor Fusion for Resilient Robot Pose Estimation in Subterranean Environments

Shehryar Khattak, Huan Nguyen, Frank Mascarich, +2

EngineeringField RoboticsMulti-sensor Information FusionAutonomous SystemsMultimodal Sensor Fusion +14

CERBERUS: Autonomous Legged and Aerial Robotic Exploration in the Tunnel and Urban Circuits of the DARPA Subterranean Challenge

Marco Tranzatto, Frank Mascarich, Lukas Bernreiter, +37

Field Robotics

Autonomous Navigation and Mapping in Underground Mines Using Aerial Robots

Christos Papachristos, Shehryar Khattak, Frank Mascarich, +1

EngineeringAerial RobotsField RoboticsUnmanned VehicleMapping +15

Localization uncertainty-aware autonomous exploration and mapping with aerial robots using receding horizon path-planning

Christos Papachristos, Frank Mascarich, Shehryar Khattak, +2

Autonomous Robots

Automatic NavigationPath PlanningTrajectory PlanningEngineeringAerospace Engineering +7

A multi-modal mapping unit for autonomous exploration and mapping of underground tunnels

Frank Mascarich, Shehryar Khattak, Christos Papachristos, +1

Underground InfrastructureVisible Light CamerasEngineeringUnderground TunnelsAutonomous Exploration +18

Autonomous Search for Underground Mine Rescue Using Aerial Robots

Tung Dang, Frank Mascarich, Shehryar Khattak, +6

Explore Locally, Plan Globally: A Path Planning Framework for Autonomous Robotic Exploration in Subterranean Environments

Tung Dang, Shehryar Khattak, Frank Mascarich, +1

Artificial IntelligenceEngineeringAutonomous ExplorationGlobal PlanningField Robotics +18

Radiation Source Localization in GPS-Denied Environments Using Aerial Robots

Frank Mascarich, Taylor Wilson, Christos Papachristos, +1

Automatic NavigationCartographySmall Aerial RobotEngineeringLocation Estimation +12