Savran, DoganTuna, Gurkan2024-06-122024-06-122016978-619-7105-59-91314-2704https://hdl.handle.net/20.500.14551/1843716th International Multidisciplinary Scientific Geoconference (SGEM 2016) -- JUN 30-JUL 06, 2016 -- Albena, BULGARIAAlthough archaeologists have a great desire to uncover ancient underground tunnels, it is a really hard work since most of the ancient tunnels are very small, measuring only around 60 in width, typically just enough for a person to crawl through. In addition, although most ancient underground tunnels include small rooms and storage chambers in some places, since the tunnels are generally very long, exploring and mapping those tunnels is not practical at all by using such an approach. In this paper, we present a novel approach to explore and map ancient underground tunnels. The approach we present is based on a combination of autonomous mobile robots, namely a water-proof autonomous mobile robot and an unmanned aerial vehicle. In our approach, while the mobile robot is responsible for exploring and mapping of underground tunnels, the unmanned aerial vehicle is used to map and localize the tunnels on a global map. With a set of calculations realized with handheld highly-accurate GPS devices, possible mapping errors are minimized. A case study is presented to explain the proposed approach.eninfo:eu-repo/semantics/closedAccessAncient Underground TunnelsAqueductsExplorationMappingAlignmentConference Object297304N/AWOS:000395499500038