Overview: Understanding the state of soil and key soil parameters (stress level, stiffness, permeability, strength) is essential to inform effective and efficient decisions about how humans should interact with soil deposits. Challenges associated with obtaining undisturbed samples mean that probes that can measure these properties in-situ are incredibly useful. Informed by recent prototyping work at the Georgia Institute of Technology, the team will develop a self-propelled Burrowing Robot with an Integrated Sensor System (BRISS). The BRISS design will build upon the strength of the well-established cone penetration in-situ test and exploit recent developments in robotics, bio-inspired engineering, numerical modeling and machine learning. The research objectives identified as necessary to achieve this goal are to: (i) Design, build and deploy a robotized sensor delivery system in the soil, and model the borrowing process; (ii) Sense mechanical and physical signals during the burrowing process and adapt the soil exploration using machine-learning; (iii) Interpret the recorded signals with innovative particulate mechanics, tribology, large deformation continuum mechanics models and feature selection algorithms. An inter-disciplinary team of scholars from the Georgia Institute of Technology (GT) and Imperial College London (ICL) will collaborate to achieve these objectives. The team will co-advise a cohort of graduate students and postdoctoral researchers. They will actively engage with each other via video conferencing, workshops and mutual visits.