Overview

Groundhog was the first autonomous mobile robot developed by our group to explore and map subterranean spaces. Over the course of its existence, Groundhog has traversed kilometers of abandoned coal mines and performed nine autonomous missions. It has logged countless quantities of range data and video to produce high fidelity mine maps and models. Groundhog is also the current research platform for the Subterranean Robotics group: often testing the latest algorithms and sensors.

Experiments

Dakota Mine, March 2005
Data | Media

Bruceton, September 13 2004
Data | Media

Bruceton, September 10 2004
Data

Bruceton, February 18 2004
Media

Bruceton, December 3 2003
Data | Media

Mathies, Ocotber 30 2003
Data | Media

Bruceton, October 29 2003
Data | Media

Mathies, October 22 2003
Data | Media

Bruceton, October 20 2003
Data | Media

Mathies, October 8 2003
Data | Media

Mathies, October 1 2003
Data | Media

Bruceton, September 30 2003
Data

Bruceton, September 23 2003
Data | Media

Mathies, June 3 2003
Media

Mathies, May 30 2003
Data

Contact

Aaron Morris
acmorr AT ri.cmu.edu

Groundhog