Robotics, Volume 9, Issue 4 (December 2020) – 36 articles
Cover Story (view full-size image): Confined, subterranean inspection of legacy mine workings is a challenging task. Current methods are time-consuming and costly as multiple boreholes are drilled into the voids to allow sensors to be placed into them. Prometheus presents an autonomous UAV that can actively reconfigure its shape to be deployed via a borehole and then explore the cavern below to allow the workings to be mapped from a single point, reducing time and cost. The vehicle is designed to overcome the specific challenges that are present in the workings, such as tight size constraints and a lack of GPS and other contact from the surface. This paper presents the design as well as an initial confined flight on a representative system. View this paper.
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