| dc.contributor.author | De Petris, Paolo | |
| dc.contributor.author | Nguyen, Dinh Huan | |
| dc.contributor.author | Dharmadhikari, Mihir | |
| dc.contributor.author | Kulkarni, Mihir | |
| dc.contributor.author | Khedekar, Nikhil Vijay | |
| dc.contributor.author | Mascarich, Frank | |
| dc.contributor.author | Alexis, Konstantinos | |
| dc.date.accessioned | 2022-12-21T09:13:58Z | |
| dc.date.available | 2022-12-21T09:13:58Z | |
| dc.date.created | 2022-11-09T11:25:27Z | |
| dc.date.issued | 2022 | |
| dc.identifier.isbn | 9781665405935 | |
| dc.identifier.uri | https://hdl.handle.net/11250/3038970 | |
| dc.description.abstract | This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilient autonomous subterranean exploration. The system is custom built for underground exploration with focus on collision tolerance, resilient autonomy with robust localization and mapping, alongside high-performance exploration path planning in confined, obstacle-filled and topologically complex underground environments. Moreover, RMF-Owl offers the ability to search, detect and locate objects of interest which can be particularly useful in search and rescue missions. A series of results from field experiments are presented in order to demonstrate the system’s ability to autonomously explore challenging unknown underground environments. | en_US |
| dc.description.abstract | RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration | en_US |
| dc.language.iso | eng | en_US |
| dc.publisher | IEEE | en_US |
| dc.relation.ispartof | 2022 International Conference on Unmanned Aircraft Systems (ICUAS) | |
| dc.title | RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration | en_US |
| dc.title.alternative | RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration | en_US |
| dc.type | Chapter | en_US |
| dc.description.version | acceptedVersion | en_US |
| dc.rights.holder | © IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | en_US |
| dc.source.pagenumber | 536-543 | en_US |
| dc.identifier.cristin | 2071127 | |
| dc.relation.project | Norges forskningsråd: 321435 | en_US |
| cristin.ispublished | true | |
| cristin.fulltext | original | |
| cristin.qualitycode | 1 | |
