Design and Field Testing of an Autonomous Underground Tramming System

  • Joshua A. Marshall
  • Timothy D. Barfoot
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 42)


This paper describes the design, implementation, and field testing of an infrastructureless system for autonomous tramming (or hauling) of a center-articulated underground mining vehicle. Described is the development of a fast, reliable, and robust “autotramming” technology that does not require the installation of fixed infrastructure throughout the mine.


Unscented Kalman Filter Automate Guide Vehicle Occupancy Grid Path Point Guidance Algorithm 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2008

Authors and Affiliations

  • Joshua A. Marshall
    • 1
  • Timothy D. Barfoot
    • 2
  1. 1.MDA Space MissionsBramptonCanada
  2. 2.University of Toronto Institute for Aerospace StudiesTorontoCanada

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