Robotic Localization in Earth Dam Outlet Works

Abstract

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.