Autonomous exploration and mapping of abandoned mines

Sebastian Thrun, Scott Thayer, Chuck Whittaker, Christopher R. Baker , Wolfram Burgard, David Ferguson , Dirk Haehnel, Michael Montemerlo, Aaron Christopher Morris, Zachary Omohundro, Carlos Reverte, and William (Red) L. Whittaker
IEEE Robotics and Automation Magazine, Vol. 11, No. 4, December, 2004, pp. 79-91.


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Abstract
Abandoned mines pose significant threats to society, yet a large fraction of them lack accurate maps. This article discusses the software architecture of an autonomous robotic system designed to explore and map abandoned mines. A new set of software tools is presented, enabling robots to acquire maps of unprecedented size and accuracy. On 30 May 2003, our robot ?roundhog?successfully explored and mapped a main corridor of the abandoned Mathies mine near Courtney, Pennsylvania. This article also discusses some of the challenges that arise in the subterranean environments and some the difficulties of building truly autonomous robots.

Notes
Associated Project(s): 3D Mine Mapping
Number of pages: 13

Text Reference
Sebastian Thrun, Scott Thayer, Chuck Whittaker, Christopher R. Baker , Wolfram Burgard, David Ferguson , Dirk Haehnel, Michael Montemerlo, Aaron Christopher Morris, Zachary Omohundro, Carlos Reverte, and William (Red) L. Whittaker, "Autonomous exploration and mapping of abandoned mines," IEEE Robotics and Automation Magazine, Vol. 11, No. 4, December, 2004, pp. 79-91.

BibTeX Reference
@article{Thrun_2004_5317,
   author = "Sebastian Thrun and Scott Thayer and Warren Whittaker and Christopher R. {Baker } and Wolfram Burgard and David {Ferguson } and Dirk Haehnel and Michael Montemerlo and Aaron Christopher Morris and Zachary Omohundro and Carlos Reverte and William (Red) L. Whittaker",
   title = "Autonomous exploration and mapping of abandoned mines",
   journal = "IEEE Robotics and Automation Magazine",
   pages = "79-91",
   publisher = "IEEE",
   month = "December",
   year = "2004",
   volume = "11",
   number = "4",
}