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This paper presents a novel strategy for autonomous teamed exploration ofsubterranean environments using legged and aerial robots. Tailored to the factthat subterranean settings, such as cave networks and underground mines, ofteninvolve complex, large-scale and multi-branched topologies, while wirelesscommunication within them can be particularly challenging, this work isstructured around the synergy of an onboard exploration path planner thatallows for resilient long-term autonomy, and a multi-robot coordinationframework. The onboard path planner is unified across legged and flying robotsand enables navigation in environments with steep slopes, and diversegeometries. When a communication link is available, each robot of the teamshares submaps to a centralized location where a multi-robot coordinationframework identifies global frontiers of the exploration space to inform eachsystem about where it should re-position to best continue its mission. Thestrategy is verified through a field deployment inside an underground mine inSwitzerland using a legged and a flying robot collectively exploring for 45min, as well as a longer simulation study with three systems.

Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots