  There are many benefits for exploring and exploiting underground mines, but
there are also significant risks and challenges. One such risk is the potential
for accidents caused by the collapse of the pillars, and roofs which can be
mitigated through inspections. However, these inspections can be costly and may
put the safety of the inspectors at risk. To address this issue, this work
presents Rhino, an autonomous robot that can navigate underground mine
environments and generate 3D maps. These generated maps will allow mine workers
to proactively respond to potential hazards and prevent accidents. The system
being developed is a skid-steer, four-wheeled unmanned ground vehicle (UGV)
that uses a LiDAR and IMU to perform long-duration autonomous navigation and
generation of maps through a LIO-SAM framework. The system has been tested in
different environments and terrains to ensure its robustness and ability to
operate for extended periods of time while also generating 3D maps.
