Aerial Robotic Graph-based Exploration Path Planning inside an Underground Bunker

In this video we present results on autonomous subterranean exploration inside an underground bunker using an aerial robot. The presented flying system is utilizing the proposed Graph-based Exploration Path Planner which operates on the basis of the bifurcation between a local and a global planning stage. In this field experiment, the local planner guides the robot through rooms and corridors of the underground bunker, while the global planner automatically derives and commands a collision-free return-to-home path at the end of the mission.

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