A Case Study in Robotic Mapping of Abandoned Mines

Baker, Christopher; Omohundro, Zachary; Thayer, Scott; Whittaker, William; Montemerlo, Michael; Thrun, Sebastian

doi:10.1007/10991459_47

Cited by 4 publications

(5 citation statements)

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“…Our first data set was acquired in an abandoned mine [1,25], using a vehicle equipped with a laser range finder. The vehicle does not provide any odometry or controls information; and no values for u 1:t are available.…”

Section: Resultsmentioning

confidence: 99%

Towards Lazy Data Association in SLAM

Hähnel

Thrun

Wegbreit

et al. 2005

Springer Tracts in Advanced Robotics

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Abstract. We present a lazy data association algorithm for the simultaneous localization and mapping (SLAM) problem. Our approach uses a tree-structured Bayesian representation of map posteriors that makes it possible to revise data association decisions arbitrarily far into the past. We describe a criterion for detecting and repairing poor data association decisions. This technique makes it possible to acquire maps of large-scale environments with many loops, with a minimum of computational overhead for the management of multiple data association hypotheses. A empirical comparison with the popular FastSLAM algorithm shows the advantage of lazy over proactive data association.

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Section: Resultsmentioning

confidence: 99%

Towards Lazy Data Association in SLAM

Hähnel

Thrun

Wegbreit

et al. 2005

Springer Tracts in Advanced Robotics

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“…The probably most related work in the area of 3D tunnel mapping is presented in [2]- [4]. There, Thrun et al present an approach for mapping inactive or abandoned mines in 3D in an accurate way using SLAM (simultaneous localization and mapping).…”

Section: Related Workmentioning

confidence: 98%

Towards an autonomous pilot system for a tunnel boring machine

Ferrein

Kallweit

Lautermann

2012

2012 5th Robotics and Mechatronics Conference of South Africa

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Modern Tunnel Boring Machines (TBMs) used in mines or for road construction often consist of several modules for the drill head and further equipment as well as wagons for carrying the mined material (dump). These machines can have a total length of up to 70 meters. In the mines, the machine has to be navigated over long stretches through the mine adits to reach the borehole. The problem is to get there without getting stuck in the galleries. Usually, these long trains are navigated manually and theodolites deal as sensory input for the teleoperator. In this paper we outline a robot system that can deal as a pilot system for such long machines for semi-autonomously driving the TBMs right to their destination. For this, the pilot robot needs to fulfil the following tasks: (1) it has to acquire an accurate 3D map of the tunnel environment, (2) plan a path from a start location to the destination and (3) guide the TBM through the tunnel. We outline the hardware and software system that we envision for our pilot system in this paper. For the hardware, we plan to deploy a Husky A200 platform which is particularly suitable for rugged terrain. For the control software we want to make use of the robot operating system ROS with its many well-implemented modules for map building, navigation and path-planning. As the system is in the planning stage at the moment, we are very interested to learn more about and share experiences and ideas of operating robots in rugged mining environments at the conference.

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“…For safety and simplicity, Groundhog is limited to one speed, approximately 10 cm/s, while operating autonomously. A more (a,c) q complete overview of the system configuration may be found in [3].…”

Section: A Chassismentioning

confidence: 99%

“…Groundhog's inaugural mission into Mathies took place on May 30, 2003 7 and is documented in [3]. The robot entered 5 Throughout the paper, the portals will be referenced as numbered in the figure.…”

Section: Operationsmentioning

confidence: 99%

A campaign in autonomous mine mapping

Baker

Morris

Ferguson

et al. 2004

IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004

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Abstract-Unknown, unexplored and abandoned subterranean voids threaten mining operations, surface developments and the environment. Hazards within these spaces preclude human access to create and verify extensive maps or to characterize and analyze the environment. To that end, we have developed a mobile robot capable of autonomously exploring and mapping abandoned mines. To operate without communications in a harsh environment with little chance of rescue, this robot must have a robust electro-mechanical platform, a reliable software system, and a dependable means of failure recovery. Presented are the mechanisms, algorithms, and analysis tools that enable autonomous mine exploration and mapping along with extensive experimental results from eight successful deployments into the abandoned Mathies coal mine near Pittsburgh, PA.

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A Case Study in Robotic Mapping of Abandoned Mines

Cited by 4 publications

References 0 publications

Towards Lazy Data Association in SLAM

Towards Lazy Data Association in SLAM

Towards an autonomous pilot system for a tunnel boring machine

A campaign in autonomous mine mapping

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