José Luis Villarroel

Underground mapping is of paramount importance at archaeological sites with natural or man‐made caves. Techniques of different complexity are available for underground surveying, from compass and tape to light detection and ranging (LiDAR). However, there are scenarios where it is impossible to use heavy and/or delicate instrumentation, or with some of the more advanced techniques, long‐distance and time‐consuming fieldwork would be required. This is the case of the study of the height of water at key points inside the aquifer located in the subsoil of the Roman city of Colonia Clunia Sulpicia to assess its relation with the evolution of the city. Although subsurface radiolocation, a technique originally intended for cave mapping, seems promising for this application, its accuracy in depth estimation is not sufficient for this purpose. Therefore, the main objectives of this work are to improve the accuracy of depth estimation using radiolocation, to obtain sound data to study changes in water supply in the early centuries of the city and to hypothesize possible causes and probable consequences. Then, this work analyses the sources of error affecting the radiolocation process and develops a new method experimentally validated to improve the depth estimation accuracy. As a result, the depth of key points at Clunia has been accurately measured by radiolocation, where LiDAR or direct measurements from the water level are not possible. Finally, based on the resultant data, a chronology of the city in relation to the aquifer, and vice versa, is outlined. The new radiolocation and calculation procedure proposed in this paper is an improved subsurface location technique that can lead to a significant innovation in archaeological prospection.

Robot localization inside tunnels is a challenging task due to the special conditions of these environments. The GPS-denied nature of these scenarios, coupled with the low visibility, slippery and irregular surfaces, and lack of distinguishable visual and structural features, make traditional robotics methods based on cameras, lasers, or wheel encoders unreliable. Fortunately, tunnels provide other types of valuable information that can be used for localization purposes. On the one hand, radio frequency signal propagation in these types of scenarios shows a predictable periodic structure (periodic fadings) under certain settings, and on the other hand, tunnels present structural characteristics (e.g., galleries, emergency shelters) that must comply with safety regulations. The solution presented in this paper consists of detecting both types of features to be introduced as discrete sources of information in an alternative graph-based localization approach. The results obtained from experiments conducted in a real tunnel demonstrate the validity and suitability of the proposed system for inspection applications.

There are many underground applications based on magnetic fields generated by an oscillating magnetic source. For them, a magnetic dipole in a three‐layered region with upper semi‐infinite air layer can be a convenient idealization used for their planning, development, and operation. Solutions are in the form of the well‐known Sommerfeld integral expressions that can be evaluated by numerical methods. A set of field expressions to be numerically evaluated by an efficient algorithm are not collected comprehensively yet, or at least in a directly usable form. In this paper, the explicit magnetic field solutions for the vertical magnetic dipole and the horizontal magnetic dipole for a general source‐observer location are derived from the Hertz vector. They can be properly combined to model the problem of a tilted magnetic dipole source for horizontally or inclined stratified media. As a result, a complete set of integral equations of the Sommerfeld type valid from the near zone to the far zone are formulated. A method for numerical evaluation of the field expressions for high accurate computations is described. The numerical results are validated using the finite element method for all the possible source‐receiver configurations and three well‐spanned frequencies of typical subsurface applications. Both numerical solutions agree according to the normalized root‐mean‐square error‐based fit metric. Numerical results for two cases of study are presented to see its usefulness for subsurface applications. A MATLAB implementation of the mathematical description outlined in this paper and the proposed evaluation method is freely available for download.

Safety, security, and rescue robotics can be extremely useful in emergency scenarios such as mining accidents or tunnel collapses where robot teams can be used to carry out cooperative exploration, intervention, or logistic missions. Deploying a multirobot team in such confined environments poses multiple challenges that involve task planning, motion planning, localization and mapping, safe navigation, coordination, and communications among all the robots. To complete their mission, robots have to be able to move in the environment with full autonomy while at the same time maintaining communication among themselves and with their human operators to accomplish team collaboration. Guaranteeing connectivity enables robots to explicitly exchange information needed in the execution of collaborative tasks and allows operators to monitor and teleoperate the robots and receive information about the environment. In this work, we present a system that integrates several research aspects to achieve a real exploration exercise in a tunnel using a robot team. These aspects are as follows: deployment planning, semantic feature recognition, multirobot navigation, localization, map building, and real‐time communications. Two experimental scenarios have been used for the assessment of the system. The first is the Spanish Santa Marta mine, a large mazelike environment selected for its complexity for all the tasks involved. The second is the Spanish‐French Somport tunnel, an old railway between Spain and France through the Central Pyrenees, used to carry out the real‐world experiments. The latter is a simpler scenario, but it serves to highlight the real communication issues.