Autonomous exploration and navigation in underground drift network
The system is based upon an all-terrain vehicle mounted with range and inertial sensors and on-board computing.
Typical exploration missions consist of dense data collection along paths specified by the human supervisor, using a rough connectivity sketch of the network to be explored. Missions result in accurate 2D and 3D maps of the explored environment.
Typical navigation missions involve map-based locomotion with self-positioning based natural landmarks and obstacle detection.