Article

Autonomous Navigation in Large-Scale Underground Environments Based on a Purely Topological Understanding of Tunnel Networks

2025-06-12

Abstract excerpt

This work presents a non-geometrical navigation approach based on a purely topological understanding of underground environments. By conceptualizing subterranean scenarios as a set of tunnels that intersect with each other, and taking a navigation approach based on topological instructions, we simplify the navigation problem to the sequential execution of human-understandable instructions. This approach is built o...

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Literature Corpus work: 8af7a5a0-89b7-5e69-804c-ea3da77c7978
DOI: 10.22541/au.174975066.61737939/v1

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