Papers

Towards Topological Exploration of Abandoned Mines
A.C. Morris, D. Silver, D. Ferguson, and S. Thayer
Proceedings of the IEEE International Conference on Robotics and Automation, April, 2005.
Download: pdf [510 KB] more information...

A Regional Point Descriptor For Global Localization In Subterranean Environments
D. Bradley, D. Silver, and S. Thayer
IEEE conference on Robotics Automation and Mechatronics (RAM 2005), December, 2004.
Download: pdf [167 KB] more information...

Autonomous Exploration and Mapping of Abandoned Mines
S. Thrun, S. Thayer, W. Whittaker, C. Baker, W. Burgard, D. Ferguson, D. Hahnel, M. Montemerlo, A. Morris, Z. Omohundro, C. Reverte and W. Whittaker
IEEE Robotics and Automation Magazine, December 2004
Download: pdf [2982]

Scan Matching for Flooded Subterranean Voids
D. Silver, D. Bradley, and S. Thayer
IEEE conference on Robotics Automation and Mechatronics (RAM), December, 2004.
Download: pdf [341 KB] more information...

Feature Extraction for Topological Mine Maps
D. Silver, D. Ferguson, A.C. Morris, and S. Thayer
Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS), September, 2004.
Download: pdf [363 KB] more information...

A Campaign in Autonomous Mine Mapping
C. Baker, A.C. Morris, D. Ferguson, S. Thayer, C. Whittaker, Z. Omohundro, C. Reverte, W.L. Whittaker, D. Haehnel, and S. Thrun
Proceedings of the IEEE Conference on Robotics and Automation (ICRA), April, 2004.
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Case Studies of a Borehole Deployable Robot for Limestone Mine Profiling and Mapping
A.C. Morris, D. Kurth, D. Huber, C. Whittaker, and S. Thayer
International Conference on Field and Service Robotics (FSR), July, 2003.
Download: pdf [1304 KB] more information...

A System for Volumetric Robotic Mapping of Abandoned Mines
S. Thrun, D. Haehnel, D. Ferguson, M. Montemerlo, R. Triebel, W. Burgard, C. Baker, Z. Omohundro, S. Thayer, and W.L. Whittaker
Proceedings of the 2003 IEEE International Conference on Robotics and Automation (ICRA '03), May, 2003.
Download: pdf [1567 KB] more information...

An Autonomous Robotic System for Mapping Abandoned Mines
D. Ferguson, A.C. Morris, D. Haehnel, C. Baker, Z. Omohundro, C. Reverte, S. Thayer, W.L. Whittaker, C. Whittaker, W. Burgard, and S. Thrun
Advances in Neural Information Processing Systems (NIPS 03), 2003. [Abstract]
Download: pdf [1851 KB] more information...

 

Presentations

Towards Topological Exploration of Abandoned Mines
ICRA05.pdf [3260 KB]
April 18 2005

Robotic Mapping and Exploration of Mines
CMU_PADEP_MineMapping_5April2005.pdf [2683 KB]
April 5 2005

Robotic Characterization of Mine Voids
Subterranean_Oct2004.pdf [2MB]
October 1 2003

Workhorse Technologies
Workhorse Technologies, LLC.pdf [1.7MB]
October 1 2003

A Case Study in Robotic Mapping of Abandoned Mines
FSR03-cbaker.pdf
[2.2MB]
February 13 2003

Robotic Characterization of Mine Voids
acmorr-FSR.pdf
[2.2MB]
February 13 2003

Subterranean Mapping
BlackRabbitSlides-shorter.pdf
[656KB]
January 30 2003

Robotics Subterranean Development
Mobile Robot Development 20030117.pdf
[3MB]
January 17 2003

 
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