“…The paper will address the aspects of communication, localization in large settings, and autonomous navigation found during our long‐term research in the tunnels and other confined environments. The goal of this study paper is that the reader not only understands the solutions, but also what led to the choice of those solutions over others, supported by a 10‐year research project that produced over 40 field experiments and more than 20 publications, some of the most relevant coping with the challenges of real‐time communication (Tardioli & Villarroel, ), radio signal propagation (Rizzo, Lera, & Villarroel, a, b), localization based on topological information (Romeo & Montano, ; Tardioli & Villarroel, ), communication‐aware navigation (Rizzo, Tardioli, et al, ; Tardioli et al, ), cooperative navigation (Urcola, Riazuelo, Lazaro, & Montano, ), and robotics intervention system where those proposals are put together (Tardioli et al, , 2016a).…”