Scientific Publications
The project has generated many papers on the technologies and solutions developed while working towards its vision of a more sustainable and efficient production of raw minerals. This compilation of articles in scientific journals and repositories with open access holds works related to the project’s main three pilots: Robotized measurement inspections before and after blasting, Autonomous material handling at face, and, Logistics and mine monitoring.
Use-Case-Oriented Evaluation of Wireless Communication Technologies for Advanced Underground Mining Operations
Marius Theissen; Leonhard Kern; Tobias Hartmann; Elisabeth Clausen
– RWTH Aachen University
Novel method of multi-face destress blasting efficiency assessment
Krzysztof Fulawka; Piotr Mertuszka; Marcin Szumny; Lech Stolecki; Izabela Jaskiewicz-Proc
– KGHM Cuprum
Predictive model of seismic vibrations’ peak value induced by multi-face blasting
Krzysztof Fulawka; Lech Stolecki; Piotr Mertuszka; Marcin Szumny; Arkadiusz Anderko
– KGHM Cuprum
Application of MEMS-Based Accelerometers for Near-Field Monitoring of Blasting-Induced Seismicity
Krzysztof Fuławka; Piotr Mertuszka; Marcin Szumny; Lech Stolecki; Krzysztof Szczerbiński
– KGHM Cuprum
Novel approach for the destress blasting in hard rock underground copper mines
Piotr Mertuszka, Marcin Szumny, Krzysztof Fuławka, Piotr Kondoł
– KGHM Cuprum
Seismic evaluation of the destress blasting efficiency
Krzysztof Fuławka, Piotr Mertuszka, Witold Pytel, Marcin Szumny, Tristan Jones
– KGHM Cuprum
Battery electric vehicles in underground mines: Insights from industry
Jenni Hooli, Adrianus Halim
– Luleå University of Technology
Field Trials and Fire Safety of Battery Electric Vehicles in Underground Mines: A current snapshot of the advantages and challenges of the use of battery electric vehicles in underground mines
Adrianus Halim
– Luleå University of Technology
FRAME: Fast and Robust Autonomous 3D point cloud Map-merging for Egocentric multi-robot exploration
Nikolaos Stathoulopoulos, Anton Koval, Ali-akbar Agha-mohammadi, George Nikolakopoulos
– Luleå University of Technology
A Decentralized Sensor Fusion Scheme for Multi Sensorial Fault Resilient Pose Estimation
Mumita Mukherjee; Avijit Banerjee, Anderas Papadimitriou; Sina Sharif Mansouri, Geaorge Nikolakopoulos
– Luleå University of Technology
3DEG: Data-Driven Descriptor Extraction for Global re-localization in subterranean environments
Nikolaos Stathoulopoulos, Anton Koval, George Nikolakopoulos
– Luleå University of Technology
SA-reCBS: Multi-robot task assignment with integrated reactive path generation
Yifan Bai, Christoforos Kanellakis, George Nikolakopoulos
– Luleå University of Technology
Multi-Robot Task Allocation Framework with Integrated Risk-Aware 3D Path Planning
Yifan Bai, Björn Lindqvist, Samuel Karlsson, Christoforos Kanellakis, George Nikolakopoulos
– Luleå University of Technology
Fault Resilient Decentralized Multi-sensorial Fusion Based Pose Estimation for Autonomous Navigation Around Asteroid
Moumita Mukherjee, Avijit Banerjee, Sumeet Gajanan Satpute and George Nikolakopoulos
– Luleå University of Technology
MSL3D: Pointcloud-based muck pile Segmentation and Localization in Unknown SubT Environments
Mario A.V. Saucedo, Christoforos Kanellakis and George Nikolakopoulos
– Luleå University of Technology
Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments
Mario A.V. Saucedo, Akash Patel, Rucha Sawlekar, Akshit Saradagi, Christoforos Kanellakis, Ali-Akbar Agha-Mohammadi and George Nikolakopoulos
– Luleå University of Technology
Irregular Change Detection in Sparse Bi-Temporal Point Clouds using Learned Place Recognition Descriptors and Point-to-Voxel Comparison
Nikolaos Stathoulopoulos, Anton Koval, George Nikolakopoulos
– Luleå University of Technology
Redundant and Loosely Coupled LiDAR-Wi-Fi Integration for Robust Global Localization in Autonomous Mobile Robotics
Nikolaos Stathoulopoulos, Emanuele Pagliari, Luca Davoli, George Nikolakopoulos
– Luleå University of Technology
Traversability Aware Graph-Based Subterranean Exploration with Unmanned Aerial Vehicles
Akash Patel, Christoforos Kanellakis, George Nikolakopoulos
– Luleå University of Technology
Multimodal Dataset from Harsh Sub-Terranean Environment with Aerosol Particles for Frontier Exploration
Alexander Kyuroson, Niklas Dahlquist, Nikolaos Stathoulopoulos, Vignesh Kottayam Viswanathan, Anton Koval, George Nikolakopoulos
– Luleå University of Technology
Efficient Real-time Smoke Filtration with 3D LiDAR for Search and Rescue with Autonomous Heterogeneous Robotic Systems
Alexander Kyuroson, Anton Koval, George Nikolakopoulos
– Luleå University of Technology
Multi-Agent Coordination Strategy for Collaborative Exploration of Subterranean Environments
Akash Patel, Christoforos Kanellakis and George Nikolakopoulos
– Luleå University of Technology
COMPRA: A COMPact Reactive Autonomy framework for subterranean MAV based search-and-rescue operations
Björn Lindqvist; Christoforos Kanellakis; Sina Sharif Mansouri; Ali-akbar Agha-mohammadi; George Nikolakopoulos
– Luleå University of Technology
Ensuring Robot-Human Safety for the BD Spot Using Active Visual Tracking and NMPC With Velocity Obstacles
Samuel Karlsson; Bjorn Lindqvist; George Nikolakopulos
– Luleå University of Technology
Multimodality robotic systems: Integrated combined legged-aerial mobility for subterranean search-and-rescue
Björn Lindqvist; Samuel Karlsson; Anton Koval; Ilias Tevetzidis; Jakub Haluška; Christoforos Kanellakis ; Ali-akbar Agha-mohammadi; George Nikolakopoulos
– Luleå University of Technology
