{"id":"https://openalex.org/W2973985259","doi":"https://doi.org/10.1109/lra.2020.2972872","title":"Mine Tunnel Exploration Using Multiple Quadrupedal Robots","display_name":"Mine Tunnel Exploration Using Multiple Quadrupedal Robots","publication_year":2020,"publication_date":"2020-02-10","ids":{"openalex":"https://openalex.org/W2973985259","doi":"https://doi.org/10.1109/lra.2020.2972872","mag":"2973985259"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2020.2972872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972872","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"preprint","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1909.09662","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5091500185","display_name":"Ian D. Miller","orcid":"https://orcid.org/0000-0001-8401-9873"},"institutions":[{"id":"https://openalex.org/I36788626","display_name":"California University of Pennsylvania","ror":"https://ror.org/01spssf70","country_code":"US","type":"education","lineage":["https://openalex.org/I36788626"]},{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Ian D. Miller","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","#N#               * University of Pennsylvania"],"raw_orcid":"https://orcid.org/0000-0001-8401-9873","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]},{"raw_affiliation_string":"#N#               * University of Pennsylvania","institution_ids":["https://openalex.org/I36788626","https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076469299","display_name":"Fernando Cladera","orcid":"https://orcid.org/0000-0002-7339-5475"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Fernando Cladera","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010434803","display_name":"Anthony Cowley","orcid":"https://orcid.org/0000-0003-4693-8005"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anthony Cowley","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002465820","display_name":"Shreyas S. Shivakumar","orcid":"https://orcid.org/0000-0003-2633-0203"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Shreyas S. Shivakumar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":"https://orcid.org/0000-0003-2633-0203","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050408790","display_name":"Elijah S. Lee","orcid":"https://orcid.org/0000-0002-6535-004X"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Elijah S. Lee","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":"https://orcid.org/0000-0002-6535-004X","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090772145","display_name":"Laura Jarin-Lipschitz","orcid":"https://orcid.org/0000-0001-5926-1369"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Laura Jarin-Lipschitz","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":"https://orcid.org/0000-0001-5926-1369","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003722782","display_name":"Akhilesh Bhat","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Akhilesh Bhat","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013503158","display_name":"Neil Rodrigues","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Neil Rodrigues","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5014288459","display_name":"Alex Zhou","orcid":"https://orcid.org/0000-0001-9136-4691"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Alex Zhou","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108461392","display_name":"Avraham Cohen","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Avraham Cohen","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090777459","display_name":"Adarsh Kulkarni","orcid":null},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Adarsh Kulkarni","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011946587","display_name":"James Laney","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"James Laney","raw_affiliation_strings":["Ghost Robotics, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ghost Robotics, Philadelphia, USA","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5036660535","display_name":"Camillo J. Taylor","orcid":"https://orcid.org/0000-0002-9332-5087"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Camillo Jose Taylor","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":"https://orcid.org/0000-0002-9332-5087","affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5087021192","display_name":"Vijay Kumar","orcid":"https://orcid.org/0000-0002-3902-9391"},"institutions":[{"id":"https://openalex.org/I79576946","display_name":"University of Pennsylvania","ror":"https://ror.org/00b30xv10","country_code":"US","type":"education","lineage":["https://openalex.org/I79576946"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Vijay Kumar","raw_affiliation_strings":["GRASP Laboratory, University of Pennsylvania, Philadelphia, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"GRASP Laboratory, University of Pennsylvania, Philadelphia, USA","institution_ids":["https://openalex.org/I79576946"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":14,"corresponding_author_ids":["https://openalex.org/A5091500185"],"corresponding_institution_ids":["https://openalex.org/I36788626","https://openalex.org/I79576946"],"apc_list":null,"apc_paid":null,"fwci":8.1419,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.9700543,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"5","issue":"2","first_page":"2840","last_page":"2847"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9976999759674072,"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/T12644","display_name":"Wildlife-Road Interactions and Conservation","score":0.9940000176429749,"subfield":{"id":"https://openalex.org/subfields/2303","display_name":"Ecology"},"field":{"id":"https://openalex.org/fields/23","display_name":"Environmental Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9929999709129333,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical 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/traverse","display_name":"Traverse","score":0.8178005218505859},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7624431848526001},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7090116739273071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.586810290813446},{"id":"https://openalex.org/keywords/gnss-applications","display_name":"GNSS applications","score":0.5800196528434753},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.5543531179428101},{"id":"https://openalex.org/keywords/rescue-robot","display_name":"Rescue robot","score":0.4654684066772461},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.42495793104171753},{"id":"https://openalex.org/keywords/plan","display_name":"Plan (archaeology)","score":0.4227627217769623},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.41057372093200684},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3577743470668793},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.32675737142562866},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3053414225578308},{"id":"https://openalex.org/keywords/global-positioning-system","display_name":"Global Positioning System","score":0.19555360078811646},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12232059240341187},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.11029776930809021},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.09114980697631836}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.8178005218505859},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7624431848526001},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7090116739273071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.586810290813446},{"id":"https://openalex.org/C14279187","wikidata":"https://www.wikidata.org/wiki/Q5514012","display_name":"GNSS applications","level":3,"score":0.5800196528434753},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.5543531179428101},{"id":"https://openalex.org/C17006198","wikidata":"https://www.wikidata.org/wiki/Q7315030","display_name":"Rescue robot","level":4,"score":0.4654684066772461},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.42495793104171753},{"id":"https://openalex.org/C2776505523","wikidata":"https://www.wikidata.org/wiki/Q4785468","display_name":"Plan (archaeology)","level":2,"score":0.4227627217769623},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.41057372093200684},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3577743470668793},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.32675737142562866},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3053414225578308},{"id":"https://openalex.org/C60229501","wikidata":"https://www.wikidata.org/wiki/Q18822","display_name":"Global Positioning System","level":2,"score":0.19555360078811646},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12232059240341187},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.11029776930809021},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09114980697631836},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2020.2972872","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2020.2972872","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:1909.09662","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.09662","pdf_url":"https://arxiv.org/pdf/1909.09662","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:2973985259","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/1909.09662","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.1909.09662","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.1909.09662","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1909.09662","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1909.09662","pdf_url":"https://arxiv.org/pdf/1909.09662","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2747436919","display_name":null,"funder_award_id":"W911NF-13-1-","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G2854993585","display_name":null,"funder_award_id":"N00014-14-1-0510","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G3486978346","display_name":null,"funder_award_id":"HR001151626","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G3663587979","display_name":"NRI: Collaborative Research: Robotics 2.0 for Disaster Response and Relief Operations","funder_award_id":"1426840","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4081228089","display_name":null,"funder_award_id":"W911NF-08-2-0004","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G4158061278","display_name":null,"funder_award_id":"IIS-1138847","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G5397883260","display_name":null,"funder_award_id":"W911NF-13-1-0350","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G5994615915","display_name":null,"funder_award_id":"N00014-07-1-0829","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G6274897657","display_name":null,"funder_award_id":"W911NF-13","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G719284172","display_name":null,"funder_award_id":"HR0011516850","funder_id":"https://openalex.org/F4320332180","funder_display_name":"Defense Advanced Research Projects Agency"},{"id":"https://openalex.org/G7283196516","display_name":null,"funder_award_id":"W911NF-08-2-0004","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"},{"id":"https://openalex.org/G7452299184","display_name":null,"funder_award_id":"W911NF","funder_id":"https://openalex.org/F4320338281","funder_display_name":"Army Research Office"},{"id":"https://openalex.org/G7600152456","display_name":"Collaborative Research: An Expedition in Computing for Compiling Printable Programmable Machines","funder_award_id":"1138847","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8727049869","display_name":null,"funder_award_id":"W911NF-13","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G8876996369","display_name":null,"funder_award_id":"N00014","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320306087","display_name":"Semiconductor Research Corporation","ror":"https://ror.org/047z4n946"},{"id":"https://openalex.org/F4320306101","display_name":"National Aeronautics and Space Administration","ror":"https://ror.org/027ka1x80"},{"id":"https://openalex.org/F4320332180","display_name":"Defense Advanced Research Projects Agency","ror":"https://ror.org/02caytj08"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338281","display_name":"Army Research Office","ror":"https://ror.org/05epdh915"}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W2973985259.pdf","grobid_xml":"https://content.openalex.org/works/W2973985259.grobid-xml"},"referenced_works_count":26,"referenced_works":["https://openalex.org/W1979061520","https://openalex.org/W1987648924","https://openalex.org/W2063549868","https://openalex.org/W2065238107","https://openalex.org/W2066713014","https://openalex.org/W2071992612","https://openalex.org/W2076244702","https://openalex.org/W2105273801","https://openalex.org/W2110312811","https://openalex.org/W2133048394","https://openalex.org/W2167798821","https://openalex.org/W2182229738","https://openalex.org/W2214269557","https://openalex.org/W2536431081","https://openalex.org/W2762439315","https://openalex.org/W2809054577","https://openalex.org/W2888489582","https://openalex.org/W2901522995","https://openalex.org/W2917113258","https://openalex.org/W2922370638","https://openalex.org/W2952599778","https://openalex.org/W2963962163","https://openalex.org/W3103765213","https://openalex.org/W4253729359","https://openalex.org/W6685664056","https://openalex.org/W6785558503"],"related_works":["https://openalex.org/W3006449166","https://openalex.org/W3214103722","https://openalex.org/W2072542338","https://openalex.org/W2131357063","https://openalex.org/W2199054930","https://openalex.org/W3170210137","https://openalex.org/W3012120506","https://openalex.org/W2003048154","https://openalex.org/W1595410283","https://openalex.org/W3076171048","https://openalex.org/W1971262291","https://openalex.org/W2767694002","https://openalex.org/W3091859718","https://openalex.org/W2798086028","https://openalex.org/W181124132","https://openalex.org/W2752428032","https://openalex.org/W1981344381","https://openalex.org/W2980664676","https://openalex.org/W3153462317","https://openalex.org/W2810796262"],"abstract_inverted_index":{"Robotic":[0],"exploration":[1,73,118],"of":[2,21,105,109,111,119],"underground":[3],"environments":[4],"is":[5],"a":[6,66,82],"particularly":[7],"challenging":[8,49],"problem":[9],"due":[10],"to":[11,33,46],"communication,":[12],"endurance,":[13],"and":[14,23,59,74],"traversability":[15],"constraints":[16],"which":[17],"necessitate":[18],"high":[19],"degrees":[20],"autonomy":[22],"agility.":[24],"These":[25,113],"challenges":[26,55],"are":[27],"further":[28],"exacerbated":[29],"by":[30,129],"the":[31,44],"need":[32],"minimize":[34],"human":[35],"intervention":[36],"for":[37,56,70,88],"practical":[38],"applications.":[39],"While":[40],"legged":[41,77,130],"robots":[42],"have":[43],"ability":[45],"traverse":[47],"extremely":[48],"terrain,":[50],"they":[51],"also":[52],"engender":[53],"new":[54],"planning,":[57],"estimation,":[58],"control.":[60],"In":[61,91],"this":[62],"work,":[63],"we":[64,93],"describe":[65,115],"fully":[67,116],"autonomous":[68,117],"system":[69,87],"multi-robot":[71],"mine":[72],"mapping":[75],"using":[76],"quadrupeds,":[78],"as":[79,81],"well":[80],"distributed":[83],"database":[84],"mesh":[85],"networking":[86],"reporting":[89],"data.":[90],"addition,":[92],"show":[94],"results":[95],"from":[96],"DARPA":[97],"Subterranean":[98],"Challenge":[99],"(SubT)":[100],"Tunnel":[101],"Circuit":[102],"demonstrating":[103],"localization":[104],"artifacts":[106],"after":[107],"traversals":[108],"hundreds":[110],"meters.":[112],"experiments":[114],"an":[120],"unknown":[121],"Global":[122],"Navigation":[123],"Satellite":[124],"System":[125],"(GNSS)-denied":[126],"environment":[127],"undertaken":[128],"robots.":[131]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":3}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}