Field and Service Robotics pp 487-495

Part of the Springer Tracts in Advanced Robotics book series (volume 24)

A Case Study in Robotic Mapping of Abandoned Mines

  • Christopher Baker
  • Zachary Omohundro
  • Scott Thayer
  • William Whittaker
  • Mike Montemerlo
  • Sebastian Thrun
Part 11 - Mining

Abstract

Mining operations depend on current, accurate maps of adjacent mine works to limit the risks of encroachment and breaching. Adjacent mines may be decades or centuries old with missing, inaccurate, or ambiguous maps. Dangers such as flooding, roof-fall, rotten support timbers, and poor ventilation preclude human entry to survey these spaces. Only robots may enter and directly observe these otherwise inaccessible underground voids, providing incontrovertible evidence of the mine’s existence and extent. This presents the configuration of a mobile mine mapping robot, Groundhog, and results from three deployments into coal mines.

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Authors and Affiliations

  • Christopher Baker
    • 1
  • Zachary Omohundro
    • 1
  • Scott Thayer
    • 1
  • William Whittaker
    • 1
  • Mike Montemerlo
    • 1
  • Sebastian Thrun
    • 1
  1. 1.Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 

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