Resilient Multi-Robot Autonomy
Enabling robot teams to explore and search in unknown, hazardous, and communication-denied environments.
This thread focuses on how team coordination, active search strategies, and decentralized mapping allow micro aerial vehicle fleets to explore underground voids.
Our work has evolved from GMM-based occupancy modeling and motion-primitives planning on a single vehicle to decentralized active search systems biased toward resolving target location uncertainty. We have field-tested these systems in wild caverns and deep subterranean settings.
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