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A Subterranean Virtual Cave World for Gazebo based on the DARPA SubT Challenge

Published: 18 September 2020

Subterranean environments with lots of obstacles, including narrow passages, large voids, rock falls and absence of illumination were always challenging for control, navigation, and perception of mobile robots. The limited availability and access to such environments restricts the development pace of capabilities for robotic platforms to autonomously accomplish tasks in such challenging areas. The presented open-source virtual world aims to become a test-bed for evaluating the developed algorithms and software and to foster mobile robotics developments.

Anton Koval, Christoforos Kanellakis, Emil Vidmark, Jakub Haluska and George Nikolakopoulos