Groundhog knee deep in mine muck.2D mine map produced by Groundhog.3D mine map snapshot produced by Groundhog.Ferret1 deployed into the Mellon Institute void.Second generation Ferret with higher power laser range finder.Ferret2 scan of a limestone mine after a domeout, Kansas City, Kansas.Borehole deployable, inflatable mobile robot concept.
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Publications
A System for Volumetric Robotic Mapping of Underground Mines
A Case Study in Robotic Mapping of Abandoned Mines
Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping
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Publications

Papers, abstracts, and preprints concerning the field of subterranean robotics.

A System for Volumetric Robotic Mapping of Underground Mines
Description of two robotic systems for acquiring high-resolution volumetric maps of underground mines. Submitted to ICRA 2003.

A Case Study in Robotic Mapping of Abandoned Mines
This paper presents a mobile robot, dubbed Groundhog, capable of navigating through and acquiring maps of abandoned mines. Submitted to FSR 2003.

Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping
Explores the problems of abandoned limestone mines and how robotic technology provides a superior and economical perspective over current profiling techniques. Submitted to FSR 2003.

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