Autonomous Aerial Robotic Subterranean Exploration inside the Moaning Caverns

In this video we present the autonomous exploration and mapping of a section of the Moaning Caverns subterranean environment. The Charlie aerial robotic scout, integrating and fusing LiDAR, visual, thermal and inertial data, localizes itself and maps the environment in a multi-modal fashion. Given the real-time built volumetric representation of the environment, a graph-based exploration path planning method facilitates autonomous path planning optimizing for exploration. This field experiment was conducted in the framework of preparations of the DARPA Subterranean Challenge.

Видео Autonomous Aerial Robotic Subterranean Exploration inside the Moaning Caverns канала Kostas Alexis