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

Tung Dang
Tung Dang
Frank Mascarich
Frank Mascarich
Shehryar Khattak
Shehryar Khattak

IROS, pp. 3105-3112, 2019.

Cited by: 6|Views4
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Abstract:

This paper presents a novel strategy for autonomous graph-based exploration path planning in subterranean environments. Attuned to the fact that subterranean settings, such as underground mines, are often large-scale networks of narrow tunnel-like and multi-branched topologies, the proposed planner is structured around a bifurcated local-...More

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