Inherent dangers in mining operations motivate the use of robotic technology for addressing hazardous situations that prevent human access. In the context of this case study, we examine the application of a robotic tool for map verification and void profiling in limestone mines after the occurrence of a ceiling collapse. Referred to as “domeouts,” these cave-ins compromise the structural integrity of the surrounding mine, endanger the mine workers, and lead to the development of sinkholes that jeopardize surface structures. Our robotic device facilitates the response and repair of domeouts by enabling remote, highly accurate measurements of the resulting void to be acquired for structural and volumetric analysis. In this paper we discuss the development of a void mapping robotic tool, demonstrate its application to domeout remediation, and present results from a case study performed in the limestone mines of Kansas City, Kansas.