RMF-Owl: A Collision-Tolerant Flying Robot for Autonomous Subterranean Exploration

Abstract

This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilient autonomous subterranean exploration. The system is custom built for underground exploration with focus on collision tolerance, resilient autonomy with robust localization and mapping, alongside high-performance exploration path planning in confined, obstacle-filled and topologically complex underground environments. Moreover, RMF-Owl offers the ability to search, detect and locate objects of interest which can be particularly useful in search and rescue missions. A series of results from field experiments are presented in order to demonstrate the system's ability to autonomously explore challenging unknown underground environments.

CERBERUS in the DARPA Subterranean Challenge

“…With respect to our aerial robots, our systems employed the conventional paradigm of cascade position-attitude control exploiting fixed gain structures or model predictive control strategies (3,4,11).…”