Mine Tunnel Exploration using Multiple Quadrupedal Robots

TL;DR

This paper presents a fully autonomous multi-robot system using legged quadrupeds for underground mine exploration, including mapping, data reporting, and successful localization in GNSS-denied environments, demonstrated in DARPA SubT challenges.

Contribution

It introduces a novel autonomous exploration system combining legged robots with distributed networking for underground mapping and artifact localization.

Findings

Successful autonomous exploration of hundreds of meters in GNSS-denied environments.

Effective multi-robot coordination and data sharing in underground settings.

Demonstrated capabilities in DARPA SubT Tunnel Circuit.

Abstract

Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further exacerbated by the need to minimize human intervention for practical applications. While legged robots have the ability to traverse extremely challenging terrain, they also engender new challenges for planning, estimation, and control. In this work, we describe a fully autonomous system for multi-robot mine exploration and mapping using legged quadrupeds, as well as a distributed database mesh networking system for reporting data. In addition, we show results from the DARPA Subterranean Challenge (SubT) Tunnel Circuit demonstrating localization of artifacts after traversals of hundreds of meters. These experiments describe fully autonomous exploration of an unknown Global Navigation Satellite System (GNSS)-denied environment undertaken by legged robots.