# Rapid and High-Fidelity Subsurface Exploration with Multiple Aerial Robots

arXiv: https://arxiv.org/abs/2012.10788 · HTML: https://mlsanity.com/paper/2012.10788/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 19 Dec 2020.

## Built on by (most cited first, 3 of 3)

- [Probabilistic Point Cloud Modeling via Self-Organizing Gaussian Mixture Models](https://mlsanity.com/paper/2302.00047/) (2023)
- [Incremental Multimodal Surface Mapping via Self-Organizing Gaussian Mixture Models](https://mlsanity.com/paper/2309.10900/) (2023)
- [Bayesian Optimization Framework for Efficient Fleet Design in Autonomous Multi-Robot Exploration](https://mlsanity.com/paper/2408.11751/) (2024)

## Abstract (arXiv)

This paper develops a communication-efficient distributed mapping approach for rapid exploration of a cave by a multi-robot team. Subsurface planetary exploration is an unsolved problem challenged by communication, power, and compute constraints. Prior works have addressed the problems of rapid exploration and leveraging multiple systems to increase exploration rate; however, communication considerations have been left largely unaddressed. This paper bridges this gap in the state of the art by developing distributed perceptual modeling that enables high-fidelity mapping while remaining amenable to low-bandwidth communication channels. The approach yields significant gains in exploration rate for multi-robot teams as compared to state-of-the-art approaches. The work is evaluated through simulation studies and hardware experiments in a wild cave in West Virginia.