EspeleoRobô - a robotic device to inspect confined environments

Robotic devices operating in confined environments such as underground, tunnel systems, and cave networks are currently receiving particular attention from research and industry. One example is the Brazilian mining company Vale S.A., which is employing a robot - Espeleolcobô - to access restricted areas. The robot was designed initially to inspect natural caves during teleoperated missions and is now being used to monitor dam galleries and other confined or dangerous environments. This paper describes recent developments regarding locomotion mechanisms and mobility analyses, localization, and path planning strategies aiming autonomous robot operation. Preliminary results from simulation and field experiments validate the robotic device concept. Lessons learned from multiple field tests in industrial scenarios are also described.