{"id":"https://openalex.org/W3214103722","doi":"https://doi.org/10.1109/icra46639.2022.9812401","title":"Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots","display_name":"Autonomous Teamed Exploration of Subterranean Environments using Legged and Aerial Robots","publication_year":2022,"publication_date":"2022-05-23","ids":{"openalex":"https://openalex.org/W3214103722","doi":"https://doi.org/10.1109/icra46639.2022.9812401","mag":"3214103722"},"language":"en","primary_location":{"id":"doi:10.1109/icra46639.2022.9812401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812401","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103071464","display_name":"Mihir Kulkarni","orcid":"https://orcid.org/0000-0003-0895-5867"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]},{"id":"https://openalex.org/I4210165875","display_name":"NTNU Samfunnsforskning","ror":"https://ror.org/05pv30e80","country_code":"NO","type":"facility","lineage":["https://openalex.org/I4210165875"]}],"countries":["NO","US"],"is_corresponding":false,"raw_author_name":"Mihir Kulkarni","raw_affiliation_strings":["University of Nevada, Reno,Reno,NV,USA,89557","NTNU, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada, Reno,Reno,NV,USA,89557","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"NTNU, Trondheim, Norway","institution_ids":["https://openalex.org/I4210165875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083948397","display_name":"Mihir Dharmadhikari","orcid":"https://orcid.org/0000-0002-4972-1744"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]},{"id":"https://openalex.org/I4210165875","display_name":"NTNU Samfunnsforskning","ror":"https://ror.org/05pv30e80","country_code":"NO","type":"facility","lineage":["https://openalex.org/I4210165875"]}],"countries":["NO","US"],"is_corresponding":false,"raw_author_name":"Mihir Dharmadhikari","raw_affiliation_strings":["University of Nevada, Reno,Reno,NV,USA,89557","NTNU, Trondheim, Norway"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada, Reno,Reno,NV,USA,89557","institution_ids":["https://openalex.org/I134113660"]},{"raw_affiliation_string":"NTNU, Trondheim, Norway","institution_ids":["https://openalex.org/I4210165875"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080223197","display_name":"Marco Tranzatto","orcid":"https://orcid.org/0000-0001-9103-0026"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Tranzatto","raw_affiliation_strings":["ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084303052","display_name":"Samuel Zimmermann","orcid":"https://orcid.org/0009-0000-4828-9294"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Samuel Zimmermann","raw_affiliation_strings":["ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5037858247","display_name":"Victor Reijgwart","orcid":"https://orcid.org/0000-0002-7605-8490"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Victor Reijgwart","raw_affiliation_strings":["ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069928677","display_name":"Paolo De Petris","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Paolo De Petris","raw_affiliation_strings":["NTNU,Trondheim,Norway,7034"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NTNU,Trondheim,Norway,7034","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050545734","display_name":"Huan Nguyen","orcid":"https://orcid.org/0000-0002-0159-1936"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huan Nguyen","raw_affiliation_strings":["NTNU,Trondheim,Norway,7034"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NTNU,Trondheim,Norway,7034","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024717956","display_name":"Nikhil Khedekar","orcid":"https://orcid.org/0000-0002-1340-4894"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Nikhil Khedekar","raw_affiliation_strings":["NTNU,Trondheim,Norway,7034"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NTNU,Trondheim,Norway,7034","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072641170","display_name":"Christos Papachristos","orcid":"https://orcid.org/0000-0001-6452-6405"},"institutions":[{"id":"https://openalex.org/I134113660","display_name":"University of Nevada, Reno","ror":"https://ror.org/01keh0577","country_code":"US","type":"education","lineage":["https://openalex.org/I134113660"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Christos Papachristos","raw_affiliation_strings":["University of Nevada, Reno,Reno,NV,USA,89557"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Nevada, Reno,Reno,NV,USA,89557","institution_ids":["https://openalex.org/I134113660"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033725695","display_name":"Lionel Ott","orcid":"https://orcid.org/0000-0001-6554-0575"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lionel Ott","raw_affiliation_strings":["ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["ETH Zurich,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022659812","display_name":"Kostas Alexis","orcid":"https://orcid.org/0000-0002-9989-298X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Kostas Alexis","raw_affiliation_strings":["NTNU,Trondheim,Norway,7034"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"NTNU,Trondheim,Norway,7034","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":102,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3306","last_page":"3313"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11192","display_name":"Underwater Vehicles and Communication Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9957000017166138,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7771860361099243},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.7711553573608398},{"id":"https://openalex.org/keywords/planner","display_name":"Planner","score":0.6664543747901917},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5403478741645813},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.5356831550598145},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.506735622882843},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.470413476228714},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.4573383629322052},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4490979313850403},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.44766733050346375},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41191020607948303},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3112131953239441},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.15098866820335388}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7771860361099243},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.7711553573608398},{"id":"https://openalex.org/C2776999362","wikidata":"https://www.wikidata.org/wiki/Q2349274","display_name":"Planner","level":2,"score":0.6664543747901917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5403478741645813},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.5356831550598145},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.506735622882843},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.470413476228714},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.4573383629322052},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4490979313850403},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.44766733050346375},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41191020607948303},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3112131953239441},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.15098866820335388},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra46639.2022.9812401","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra46639.2022.9812401","pdf_url":null,"source":{"id":"https://openalex.org/S4363607759","display_name":"2022 International Conference on Robotics and Automation (ICRA)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":77,"referenced_works":["https://openalex.org/W1601776805","https://openalex.org/W1607046631","https://openalex.org/W1925307928","https://openalex.org/W1990101796","https://openalex.org/W1998484460","https://openalex.org/W2060794637","https://openalex.org/W2064455269","https://openalex.org/W2095453748","https://openalex.org/W2096268286","https://openalex.org/W2104969271","https://openalex.org/W2107667896","https://openalex.org/W2142924305","https://openalex.org/W2146746326","https://openalex.org/W2158240273","https://openalex.org/W2158401301","https://openalex.org/W2167463026","https://openalex.org/W2183960582","https://openalex.org/W2409009991","https://openalex.org/W2482852384","https://openalex.org/W2506989912","https://openalex.org/W2561839189","https://openalex.org/W2571268510","https://openalex.org/W2607968634","https://openalex.org/W2615936209","https://openalex.org/W2739036405","https://openalex.org/W2752773216","https://openalex.org/W2767694002","https://openalex.org/W2770176163","https://openalex.org/W2788560856","https://openalex.org/W2889942734","https://openalex.org/W2953919662","https://openalex.org/W2965215408","https://openalex.org/W2972884405","https://openalex.org/W2990284439","https://openalex.org/W3004647014","https://openalex.org/W3006449166","https://openalex.org/W3013410780","https://openalex.org/W3046506154","https://openalex.org/W3081418775","https://openalex.org/W3090360675","https://openalex.org/W3090437565","https://openalex.org/W3092218351","https://openalex.org/W3094029947","https://openalex.org/W3097090618","https://openalex.org/W3102129812","https://openalex.org/W3104766777","https://openalex.org/W3105489439","https://openalex.org/W3114498234","https://openalex.org/W3139022700","https://openalex.org/W3147834439","https://openalex.org/W3151266447","https://openalex.org/W3164604868","https://openalex.org/W3176634028","https://openalex.org/W3182193940","https://openalex.org/W3186960480","https://openalex.org/W3188278405","https://openalex.org/W3205357298","https://openalex.org/W3205654744","https://openalex.org/W3205691110","https://openalex.org/W3206766941","https://openalex.org/W4205430897","https://openalex.org/W4225669925","https://openalex.org/W4230393406","https://openalex.org/W4248422790","https://openalex.org/W4255885994","https://openalex.org/W4287262265","https://openalex.org/W4287550646","https://openalex.org/W4376848433","https://openalex.org/W4391794847","https://openalex.org/W6640371294","https://openalex.org/W6674445081","https://openalex.org/W6765040309","https://openalex.org/W6773900632","https://openalex.org/W6775518706","https://openalex.org/W6784097776","https://openalex.org/W6798349973","https://openalex.org/W6861619126"],"related_works":["https://openalex.org/W4246538999","https://openalex.org/W4244698559","https://openalex.org/W2002361198","https://openalex.org/W804484174","https://openalex.org/W56933075","https://openalex.org/W1548568597","https://openalex.org/W2482749251","https://openalex.org/W2114119680","https://openalex.org/W2366039691","https://openalex.org/W2766493616"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,68,95,108,112,142,152,155,166],"novel":[4],"strategy":[5,138],"for":[6,63,160],"autonomous":[7],"teamed":[8],"exploration":[9,58,121],"of":[10,55,102,119],"subterranean":[11,23],"environments":[12,87],"using":[13,151],"legged":[14,79,153],"and":[15,29,36,67,80,83,91,154],"aerial":[16],"robots.":[17],"Tailored":[18],"to":[19,107,123,132],"the":[20,53,103,120],"fact":[21],"that":[22,61],"settings,":[24],"such":[25],"as":[26,163,165],"cave":[27],"networks":[28],"underground":[30,147],"mines,":[31],"often":[32],"involve":[33],"complex,":[34],"large-scale":[35],"multi-branched":[37],"topologies,":[38],"while":[39],"wireless":[40],"communication":[41,96],"within":[42],"them":[43],"can":[44],"be":[45],"particularly":[46],"challenging,":[47],"this":[48],"work":[49],"is":[50,76,98,139],"structured":[51],"around":[52],"synergy":[54],"an":[56,146],"onboard":[57,73],"path":[59,74],"planner":[60,75],"allows":[62],"resilient":[64],"long-term":[65],"autonomy,":[66],"multi-robot":[69,113],"coordination":[70,114],"framework.":[71],"The":[72,137],"unified":[77],"across":[78],"flying":[81,156],"robots":[82],"enables":[84],"navigation":[85],"in":[86,149],"with":[88,170],"steep":[89],"slopes,":[90],"diverse":[92],"geometries.":[93],"When":[94],"link":[97],"available,":[99],"each":[100,125],"robot":[101,157],"team":[104],"shares":[105],"submaps":[106],"centralized":[109],"location":[110],"where":[111,128],"framework":[115],"identifies":[116],"global":[117],"frontiers":[118],"space":[122],"inform":[124],"system":[126],"about":[127],"it":[129],"should":[130],"re-position":[131],"best":[133],"continue":[134],"its":[135],"mission.":[136],"verified":[140],"through":[141],"field":[143],"deployment":[144],"inside":[145],"mine":[148],"Switzerland":[150],"collectively":[158],"exploring":[159],"45":[161],"min,":[162],"well":[164],"longer":[167],"simulation":[168],"study":[169],"three":[171],"systems.":[172]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":26},{"year":2024,"cited_by_count":28},{"year":2023,"cited_by_count":30},{"year":2022,"cited_by_count":10}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}