The risk of collapse and subsidence of abandoned lignite mines has been noted in the Tokai region of Japan. The cavity-filling process by local governments has been ongoing. There is no cavity map in the abandoned lignite mines, and it is necessary to understand and explore the underground space in order to estimate the amount of filling material needed. By request from Mitake-cho in Gifu Prefecture, we received the opportunity to explore the inside of an abandoned lignite mine using our robotic system. Prior to the exploration of the actual abandoned lignite mine, as a feasibility study, an experimental test field that simulated the elements of the abandoned lignite mine was prepared outdoors. Some experiments were performed and the robotic exploration system was evaluated in this study. This paper describes the lessons learned from the feasibility study.

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