Terrain-aware semantic mapping for cooperative subterranean exploration

Navigation over torturous terrain such as those in natural subterranean environments presents a significant challenge to field robots. The diversity of hazards, from large boulders to muddy or even partially submerged Earth, eludes complete definition. The challenge is amplified if the presence and nature of these hazards must be shared among multiple agents that are operating in the same space. Furthermore, highly efficient mapping and robust navigation solutions are absolutely critical to operations such as semi-autonomous search and rescue. We propose an efficient and modular framework for semantic grid mapping of subterranean environments. Our approach encodes occupancy and traversability information, as well as the presence of stairways, into a grid map that is distributed amongst a robot fleet despite bandwidth constraints. We demonstrate that the mapping method enables safe and enduring exploration of subterranean environments. The performance of the system is showcased in high-fidelity simulations, physical experiments, and Team MARBLE's entry in the DARPA Subterranean Challenge which received third place.