This work presents the design, hardware realization, autonomous exploration and object detection capabilities of RMF-Owl, a new collision-tolerant aerial robot tailored for resilient autonomous subterranean exploration. The system is custom built for underground exploration with focus on collision tolerance, resilient autonomy with robust localization and mapping, alongside high-performance exploration path planning in confined, obstacle-filled and topologically complex underground environments. Moreover, RMF-Owl offers the ability to search, detect and locate objects of interest which can be particularly useful in search and rescue missions. A series of results from field experiments are presented in order to demonstrate the system's ability to autonomously explore challenging unknown underground environments.

翻译：这项工作展示了RMF-Owl的设计、硬件实现、自主勘探和物体探测能力,RMF-Owl是专门为具有复原力的自主地下勘探而设计的一个新的可防碰撞的空中机器人,该系统是为地下勘探而定制的,重点是碰撞容忍度、具有复原力的自主性和稳健的定位和绘图,同时在封闭、障碍填充和地形复杂的地下环境中进行高性能勘探规划,此外,RMF-Owl还提供搜索、探测和定位对搜索和救援任务特别有用的相关对象的能力。