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There are several challenges for search and rescue robots: mobility,perception, autonomy, and communication. Inspired by the DARPA Subterranean(SubT) Challenge, we propose an autonomous blimp robot, which has theadvantages of low power consumption and collision-tolerance compared to otheraerial vehicles like drones. This is important for search and rescue tasks thatusually last for one or more hours. However, the underground constrainedpassages limit the size of blimp envelope and its payload, making the proposedsystem resource-constrained. Therefore, a careful design consideration isneeded to build a blimp system with on-board artifact search and SLAM. In orderto reach long-term operation, a failure-aware algorithm with minimalcommunication to human supervisor to have situational awareness and sendcontrol signals to the blimp when needed.

Duckiefloat: a Collision-Tolerant Resource-Constrained Blimp for Long-Term Autonomy in Subterranean Environments