3 papers
cs.RO2026
[Preprint] Dynamic Modeling, Gait Synthesis, and Control of a Novel Subsurface Bore Propagator
Lina van Brügge, Shruti Kotpalliwar, Anton Koval +2
In this article, we present dynamic modeling, gait synthesis, and feedback control design for a modular novel subsurface robot, designed for human-free subsurface exploration and e…
cs.RO2026
SubTGraph: Large-Scale Subterranean Environment Synthesis with Controllable Topological Variability for Robotic Autonomy Validation
F. Labra Caso, A. Saradagi, S. Fredriksson +3
Subterranean (SubT) environments have been a frontier for autonomous robotics, driven by the push for automation of mining operations and the interest in planetary exploration (Mar…
cs.RO2026
How IMU Drift Influences Multi-Radar Inertial Odometry for Ground Robots in Subterranean Terrains
Moumita Mukherjee, Magnus Norén, Anton Koval +2
Reliable radar inertial odometry (RIO) requires mitigating IMU bias drift, a challenge that intensifies in subterranean environments due to extreme temperatures and gravity-induced…