148626 20260112133315.0 doi 10.1109/IROS58592.2024.10801552 sideral 141875 ART-2024-141875 eng Cano, Lorenzo Universidad de Zaragoza Procedural generation of tunnel networks for unsupervised training and testing in underground applications 2024 Developing a robotic application requires thorough testing of the complete system to ensure its reliability. However, depending on the target environment, real-life testing can be difficult to carry out, which favors simulations. Also, some techniques like those based on machine learning, may require large varieties of sensor data, which can be gathered in simulation with ease, whereas doing the same in real environments can pose a great challenge.This work presents a flexible approach to the procedural generation of tunnel networks suitable for underground robotics simulations. The method starts with a graph representation of an underground environment, and applies a custom meshing strategy to generate tunnels that follow the graph structure. This mesh can then be imported into the desired simulation software. The ease of use of this method allows for the testing of robotic applications in an arbitrary number of different environments in completely automated workflows. info:eu-repo/semantics/closedAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 0.681 2024 Computer Science Applications 2024 Software 2024 Control and Systems Engineering 2024 Computer Vision and Pattern Recognition 2024 3.8 2024 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion Tardioli, Danilo (orcid)0000-0002-7600-0002 Mosteo, Alejandro R. (orcid)0000-0001-7853-3622 5007 520 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Ingen.Sistemas y Automát. (2024), 4608-4615 Proc. IEEE/RSJ Int. Conf. Intell. Rob. Syst. Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems 2153-0858 3292244 http://zaguan.unizar.es/record/148626/files/texto_completo.pdf Versión publicada 3412974 http://zaguan.unizar.es/record/148626/files/texto_completo.jpg?subformat=icon icon Versión publicada oai:zaguan.unizar.es:148626 articulos driver 2026-01-12-13:04:14 ARTICLE