ArticleFrontiers in robotics and AI2026
Robotic lava tube mapping and multimodal data collection using quadruped and LiDAR.
Article in Frontiers in robotics and AI, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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Abstract
As part of TU Delft Rhizome 2.0 and Moonshot projects, focusing on the development of extraterrestrial habitats in lava tubes, the robotic mapping of an analogue lava tube in Sicily has been studied with the future goal of assessing its suitability for building construction. The main objective of the research was to survey a lava tube and acquire a novel dataset for future research, while also analyzing the collected data to evaluate possible future lava tube exploration scenarios for the Moon and Mars. This paper presents the robotic mapping conducted in Grotta di Monte Intraleo, detailing the implementation and outlining challenges and insights, leading to the new dataset. Various mapping and data collection methods, including robotic mapping using LiDAR, was explored. The overall strategy relies on multi-technique scanning to enhance redundancy and ensure comprehensive data acquisition, that is providing a robust foundation for future robotic exploration and habitat planning.
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