Subterranean Environment

Subterranean environment research focuses on developing autonomous systems for exploration and mapping of challenging underground spaces, including caves and mines. Current efforts concentrate on robust sensor fusion (LiDAR, event cameras), advanced path planning algorithms (PRM, D* Lite, topological methods), and efficient data processing techniques like transformer-based models and manifold learning for 3D reconstruction and localization in low-feature environments. These advancements are crucial for improving search and rescue operations, resource management, and scientific understanding of subterranean ecosystems, impacting both robotics and geoscience fields.