Proceedings ArticleDOI
Integrated Autonomous System for Exploration and Navigation in Underground Mines
J.N. Bakambu
- pp 2308-2313
TLDR
An autonomous platform for exploration and navigation within networks of tunnels, as those typically found in underground mines and caves, is described, allowing two modes of operation: exploration/surveying mode and autonomous navigation mode.Citations
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Journal ArticleDOI
Mobile robots in mine rescue and recovery
TL;DR: Mining accidents have occurred since the early days of mining, and robots have a great potential to assist in these underground operations, searching ahead of rescue teams and reporting conditions that may be hazardous to the teams.
Journal ArticleDOI
Ground robotics in tunnels: Keys and lessons learned after 10 years of research and experiments
Patent
Method for the autonomous localization of a driverless motorized vehicle
Lipkowski Merten,Thomas Wösch +1 more
TL;DR: In this paper, a range-measuring sensor is arranged on the vehicle and in which the direction of measurement or plane of measurement can be altered by driving at least one sensor motor.
Journal ArticleDOI
Master-followed Multiple Robots Cooperation SLAM Adapted to Search and Rescue Environment
TL;DR: This multi-robot SLAM method has significantly improved the objects identification, area coverage rate and loop-closure, and the corresponding simulations and experiments validate the significant effects.
Proceedings ArticleDOI
Design, construction, and testing of a new class of mobile robots for cave exploration
Ivan Siles,Ian D. Walker +1 more
TL;DR: In this paper, the authors introduce a novel mobile robot design concept aimed at exploration of underground spaces using a combination of highly maneuverable-body elements with wheel/leg elements (whegs), which offers performance not possible with conventional wheeled or tracked mobile robots, or with current robot snakes.
References
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Journal ArticleDOI
Blanche-an experiment in guidance and navigation of an autonomous robot vehicle
TL;DR: Blanche's position estimation system consists of a priori map of its environment and a robust matching algorithm that estimates the precision of the corresponding match/correction that is then optimally combined with the current odometric position to provide an improved estimate of the vehicle's position.
Journal ArticleDOI
An Architecture for Autonomy
TL;DR: An integrated architecture that allows a mobile robot to plan its tasks—taking into account temporal and domain constraints, to perform corresponding actions and to con trol their execution in real-time—while being reactive to possible events is described.
Proceedings ArticleDOI
A system for volumetric robotic mapping of abandoned mines
Sebastian Thrun,Dirk Hähnel,David I. Ferguson,Michael Montemerlo,Rudolph Triebel,Wolfram Burgard,Christopher R. Baker,Zachary Omohundro,Scott M. Thayer,William Whittaker +9 more
TL;DR: To build consistent maps of large mines with many cycles, an algorithm for estimating global correspondences and aligning robot paths is described, which enables us to recover consistent maps several hundreds of meters in diameter, without odometric information.
Proceedings ArticleDOI
6D SLAM with an application in autonomous mine mapping
TL;DR: A new solution to the simultaneous localization and mapping (SLAM) problem with six degrees of freedom with a fast variant of the Iterative Closest Points algorithm registers the 3D scans in a common coordinate system and relocalizes the robot.
Journal ArticleDOI
Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous Control
TL;DR: In this article, the problem of exponential stabilization of the kinematic and dynamic model of a simple wheeled mobile robot is addressed and solved using a discontinuous, bounded, time invariant, state feedback control law.