Towards Topological Exploration of Abandoned Mines

Aaron Christopher Morris, David Silver, David Ferguson , and Scott Thayer
Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005, pp. 2117 - 2123.


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Abstract
The need for reliable maps of subterranean spaces too hazardous for humans to occupy has motivated the use of robotic technology as mapping tools. As such, we present a systemic approach to autonomous topological exploration of a mine environment to facilitate the process of mapping. This approach focuses upon the interaction of three high-level processes: topological planning, intersection identification and local navigation. Topological planning tasks the robot to investigate stretches of mine corridor for the purpose of collecting data. Intersection identification converts sensory input into topological components used to construct an online topological map and provide the robot with a global sense of position. Local navigation transforms topological exploration objectives into robot actuation enabling traversal of mine corridors. These processes are described in detail with results presented from experiments conducted at a research coal mine near Pittsburgh, PA.

Notes
Associated Project(s): 3D Mine Mapping
Number of pages: 7

Text Reference
Aaron Christopher Morris, David Silver, David Ferguson , and Scott Thayer, "Towards Topological Exploration of Abandoned Mines," Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005, pp. 2117 - 2123.

BibTeX Reference
@inproceedings{Morris_2005_4923,
   author = "Aaron Christopher Morris and David Silver and David {Ferguson } and Scott Thayer",
   title = "Towards Topological Exploration of Abandoned Mines",
   booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation",
   pages = "2117 - 2123",
   month = "April",
   year = "2005",
}