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

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

ICAR, pp. 9-16, 2019.

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Abstract:

This paper presents a path planning strategy for the autonomous exploration of subterranean environments. Tailored to the specific challenges and particularities of underground settings, and especially the fact that they often are extremely large in scale, tunnel-like, narrow and multibranched, the proposed method employs a bifurcated loc...More

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