Three-dimensional Terrain Aware Autonomous Exploration for Subterranean and Confined Spaces
Héctor Azpúrua Mario F. M. Campos Douglas G. Macharet Héctor Azpúrua Mario F. M. Campos Douglas G. Macharet
Despite the advances in autonomous navigation and motion planning, there are still several challenges to overcome, especially for confined or underground spaces. Confined scenarios present challenges such as lack of global or accurate external localization, uneven and slippery terrains, and multilevel stages. Exploring and mapping unknown unstructured environments is a fundamental step into the sa...