Robotic Localization in Earth Dam Outlet Works

Earth dam outlet works are giant marvels of engineering and critical to a nation's infrastructure. To maintain assured operation, the structure should be inspected periodically to preempt failures. Deep underground, the hazards associated with inspecting these structures are gravely consequenti...

Full description

Saved in:
Bibliographic Details
Main Authors: Bunkley, Steven, Ellison, Charles, Glaspell, Garry, Klein, Jordan, Netchaev, Anton
Format: Conference Proceeding
Language:English
Subjects:
Dams
Earth
Inspection
Measurement uncertainty
Portfolios
Robots
System integration
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Earth dam outlet works are giant marvels of engineering and critical to a nation's infrastructure. To maintain assured operation, the structure should be inspected periodically to preempt failures. Deep underground, the hazards associated with inspecting these structures are gravely consequential [1]. This spurred the creation of the DamBot™ research program to create a robotic platform capable of performing inspections robotically. Localizing a robot in an earth dam outlet is a challenge for both navigation and mapping. This paper will describe these challenges in detail along with the software stack used by the DamBot™ to overcome them.
ISSN:2474-2325
DOI:10.1109/SII58957.2024.10417365