Robotic lava tube mapping and multimodal data collection using quadruped and LiDAR

As part of the Rhizome 2.0 project, focusing on the development of a habitat in a Martian lava tube, the robotic mapping of an analogue lava tube on Earth has been implemented with the goal to assess its suitability for building construction and habitation. This paper presents the robotic mapping conducted in Grotta di Monte Intraleo in Sicily, detailing the implementation and outlining challenges and mission insights. Various mapping and data collection methods in addition to robotic mapping using LiDAR have been implemented and compared to identify optimal approaches for increasing accuracy, efficiency, and resource usage. The overall strategy relies on multi-techniques scanning to enhance redundancy and ensure comprehensive data acquisition that is providing a robust foundation for future robotic exploration and habitat planning.