The following publications are possibly variants of this publication:
- An Autonomous Robotic System for Mapping Abandoned MinesDavid I. Ferguson, Aaron Morris, Dirk Hähnel, Christopher R. Baker, Zachary Omohundro, Carlos F. Reverte, Scott Thayer, Charles Whittaker, William Whittaker, Wolfram Burgard, Sebastian Thrun. nips 2004: 587-594 [doi]
- Towards Topological Exploration of Abandoned MinesAaron Morris, David Silver, David I. Ferguson, Scott Thayer. icra 2005: 2117-2123
- A system for volumetric robotic mapping of abandoned minesSebastian Thrun, Dirk Hähnel, David I. Ferguson, Michael Montemerlo, Rudolph Triebel, Wolfram Burgard, Christopher R. Baker, Zachary Omohundro, Scott Thayer, William Whittaker. icra 2003: 4270-4275
- A Case Study in Robotic Mapping of Abandoned MinesChristopher R. Baker, Zachary Omohundro, Scott Thayer, William Whittaker, Michael Montemerlo, Sebastian Thrun. fsr 2006: 487-495 [doi]
- A Campaign in Autonomous Mine MappingChristopher R. Baker, Aaron Morris, David I. Ferguson, Scott Thayer, Warren Whittaker, Zachary Omohundro, Carlos F. Reverte, Dirk Hähnel, Sebastian Thrun. icra 2004: 2004-2009 [doi]