132322 20260217205510.0 doi 10.1002/rob.22303 sideral 137423 ART-2024-137423 eng Villarroel, José Luis Universidad de Zaragoza (orcid)0000-0002-7148-4642 RoboBoat: A robotic boat for 3D mapping of partially flooded underground sites 2024 Access copy available to the general public Unrestricted This paper presents the development and field testing of RoboBoat, an unmanned surface vehicle designed to acquire three‐dimensional (3D) point cloud representations of narrow flooded galleries in caves, mines, and other similar environments where conventional surveying and mapping procedures cannot be applied. We developed techniques tailored to these scenarios, including a contour‐following reactive navigation method and an iterative closest point‐based simultaneous localization and mapping method. Custom metrics have been defined to iteratively validate and improve the 3D model of the passageways. The successful field tests in natural caves and mining galleries demonstrate the accuracy of the 3D representation, making it suitable for digital preservation of large‐volume cultural heritage sites. info:eu-repo/grantAgreement/ES/MICINN-AEI/10.13039/501100011033 info:eu-repo/grantAgreement/ES/MICIU/PID2019-105390RB-I00 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 5.2 2024 ROBOTICS 13 / 48 = 0.271 2024 Q2 T1 1.075 2024 Control and Systems Engineering 2024 Q1 Computer Science Applications 2024 Q1 8.9 2024 info:eu-repo/semantics/article info:eu-repo/semantics/submittedVersion Lera, Francisco Universidad de Zaragoza (orcid)0000-0002-1568-1481 Tardioli, Danilo (orcid)0000-0002-7600-0002 Riazuelo, Luis Universidad de Zaragoza (orcid)0000-0002-6722-5541 Montano, Luis Universidad de Zaragoza (orcid)0000-0002-0449-2300 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. 5008 800 Universidad de Zaragoza Dpto. Ingeniería Electrón.Com. Área Teoría Señal y Comunicac. 41, 4 (2024), 1029-1053 Journal of Field Robotics Journal of Field Robotics 1556-4959 1319437 http://zaguan.unizar.es/record/132322/files/texto_completo.pdf Preprint 2008152 http://zaguan.unizar.es/record/132322/files/texto_completo.jpg?subformat=icon icon Preprint oai:zaguan.unizar.es:132322 articulos driver 2026-02-17-20:24:45 ARTICLE