Research Progress on Collaborative Perception and Localization Technologies of Clustered Unmanned Systems in Underground Sheltered Spaces: A Survey

摘要

Underground sheltered spaces, such as utility tunnels, mines, railways, are characterized by unique features including enclosure, complexity, and structural diversity, which present great challenges to collaborative perception and localization in clustered unmanned systems. This paper firstly analyzes the current research of clustered unmanned systems in underground spaces. Secondly, Considering the challenges of communication limitation, degraded environments, constrained perception in underground spaces, this paper elaborates on the progress of key technologies for collaborative localization and perception in unmanned systems, including data exchange methods for robotic cluster under communication constraints, robust and resilient SLAM algorithms under degraded environments, collaboration strategies for heterogeneous multi-robot systems in underground environments and collaborative semantic SLAM under limited environmental perception. Finally, the technological bottlenecks and development trends of clustered unmanned systems in underground environments are summarized and discussed.