# Mine Tunnel Exploration using Multiple Quadrupedal Robots

arXiv: https://arxiv.org/abs/1909.09662 · HTML: https://mlsanity.com/paper/1909.09662/

## Key facts

- Cited by 8 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 20 Sep 2019.

## Built on by (most cited first, 8 of 8)

- [Approximate Differentiable Rendering with Algebraic Surfaces](https://mlsanity.com/paper/2207.10606/) (2022)
- [NeBula: Quest for Robotic Autonomy in Challenging Environments; TEAM CoSTAR at the DARPA Subterranean Challenge](https://mlsanity.com/paper/2103.11470/) (2021)
- [Air-Ground Collaboration for Language-Specified Missions in Unknown Environments](https://mlsanity.com/paper/2505.09108/) (2025)
- [QuaDreamer: Controllable Panoramic Video Generation for Quadruped Robots](https://mlsanity.com/paper/2508.02512/) (2025)
- [Graph Neural Networks for Decentralized Multi-Agent Perimeter Defense](https://mlsanity.com/paper/2301.09689/) (2023)
- [Heterogeneous Robot Collaboration in Unstructured Environments with Grounded Generative Intelligence](https://mlsanity.com/paper/2510.26915/) (2025)
- [Robust Localization, Mapping, and Navigation for Quadruped Robots](https://mlsanity.com/paper/2505.02272/) (2025)
- [Bayesian Optimization Framework for Efficient Fleet Design in Autonomous Multi-Robot Exploration](https://mlsanity.com/paper/2408.11751/) (2024)

## Abstract (arXiv)

Robotic exploration of underground environments is a particularly challenging problem due to communication, endurance, and traversability constraints which necessitate high degrees of autonomy and agility. These challenges are further exacerbated by the need to minimize human intervention for practical applications. While legged robots have the ability to traverse extremely challenging terrain, they also engender new challenges for planning, estimation, and control. In this work, we describe a fully autonomous system for multi-robot mine exploration and mapping using legged quadrupeds, as well as a distributed database mesh networking system for reporting data. In addition, we show results from the DARPA Subterranean Challenge (SubT) Tunnel Circuit demonstrating localization of artifacts after traversals of hundreds of meters. These experiments describe fully autonomous exploration of an unknown Global Navigation Satellite System (GNSS)-denied environment undertaken by legged robots.