An Autonomous Robotic System for Mapping Abandoned Mines
Abstract
We present the software architecture of a robotic system for mapping abandoned mines. The software is capable of acquiring consistent 2D maps of large mines with many cycles, represented as Markov random £elds. 3D C-space maps are acquired from local 3D range scans, which are used to identify navigable paths using A* search. Our system has been deployed in three abandoned mines, two of which inaccessible to people, where it has acquired maps of unprecedented detail and accuracy.
Cite
Text
Ferguson et al. "An Autonomous Robotic System for Mapping Abandoned Mines." Neural Information Processing Systems, 2003.Markdown
[Ferguson et al. "An Autonomous Robotic System for Mapping Abandoned Mines." Neural Information Processing Systems, 2003.](https://mlanthology.org/neurips/2003/ferguson2003neurips-autonomous/)BibTeX
@inproceedings{ferguson2003neurips-autonomous,
title = {{An Autonomous Robotic System for Mapping Abandoned Mines}},
author = {Ferguson, David and Morris, Aaron and Hähnel, Dirk and Baker, Christopher and Omohundro, Zachary and Reverte, Carlos and Thayer, Scott and Whittaker, Charles and Whittaker, William and Burgard, Wolfram and Thrun, Sebastian},
booktitle = {Neural Information Processing Systems},
year = {2003},
pages = {587-594},
url = {https://mlanthology.org/neurips/2003/ferguson2003neurips-autonomous/}
}