89260 20250130163245.0 doi 10.1002/rob.21871 sideral 112954 ART-2019-112954 eng Tardioli, Danilo (orcid)0000-0002-7600-0002 Ground robotics in tunnels: Keys and lessons learned after 10 years of research and experiments 2019 Access copy available to the general public Unrestricted The work reported in this article describes the research advances and the lessons learned by the Robotics, Perception and Real-Time group over a decade of research in the field of ground robotics in confined environments. This study has primarily focused on localization, navigation, and communications in tunnel-like environments. As will be discussed, this type of environment presents several special characteristics that often make well-established techniques fail. The aim is to share, in an open way, the experience, errors, and successes of this group with the robotics community so that those that work in such environments can avoid (some of) the errors made. At the very least, these findings can be readily taken into account when designing a solution, without needing to sift through the technical details found in the papers cited within this text. info:eu-repo/grantAgreement/ES/DGA/T45-17R info:eu-repo/grantAgreement/EUR/FP6/IST-1-045062/URUS info:eu-repo/grantAgreement/ES/MINECO/DPI2003-07986 info:eu-repo/grantAgreement/ES/MINECO/DPI2006-07928 info:eu-repo/grantAgreement/ES/MINECO/DPI2009-08126 info:eu-repo/grantAgreement/ES/MINECO/DPI2012-32100 info:eu-repo/grantAgreement/ES/MINECO/DPI2016-76676-R info:eu-repo/grantAgreement/ES/MINECO/RTC-2015--4099-4 info:eu-repo/grantAgreement/ES/UZ/CUD2017-18 info:eu-repo/semantics/openAccess All rights reserved http://www.europeana.eu/rights/rr-f/ 3.581 2019 ROBOTICS 9 / 28 = 0.321 2019 Q2 T1 1.313 2019 Control and Systems Engineering 2019 Q1 Computer Science Applications 2019 Q1 info:eu-repo/semantics/article info:eu-repo/semantics/acceptedVersion Riazuelo, Luis Universidad de Zaragoza (orcid)0000-0002-6722-5541 Sicignano, Domenico Universidad de Zaragoza (orcid)0000-0002-0787-3571 Rizzo, Carlos Lera, Francisco Universidad de Zaragoza (orcid)0000-0002-1568-1481 Villarroel, José L. Universidad de Zaragoza (orcid)0000-0002-7148-4642 Montano, Luis Universidad de Zaragoza (orcid)0000-0002-0449-2300 5007 035 Universidad de Zaragoza Dpto. Informát.Ingenie.Sistms. Área Arquit.Tecnología Comput. 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. 36, 6 (2019), 1074-1101 Journal of Field Robotics Journal of Field Robotics 1556-4959 2269033 http://zaguan.unizar.es/record/89260/files/texto_completo.pdf Postprint 1631630 http://zaguan.unizar.es/record/89260/files/texto_completo.jpg?subformat=icon icon Postprint oai:zaguan.unizar.es:89260 articulos driver 2025-01-30-16:31:07 ARTICLE