There is a particular construction that has a set of bored pile foundations on site. Some of them have voids as verified in the field pile test... One of the options is jet grout.
Yes it is possible use jet grout to fill voids presence in the rocky or hard strata. Two types grouts are normally used in the field, solution grout or suspension grout. in rocky stratum it is better to use suspension grout instead of solution grout. The type of suspension grout is to be used mainly depends on properties of rock and pore void dimensions..If more details known about rock properties and pore void size then it is easy to give exact type of gout to be used..ok all the best in your research..
This type of grouting was used in the Panama Canal Expansion project and you might find some interesting information about it. Might be in Spanish though!
My experience and understanding of jet grouting suggests that it is best suited to the treatment of soils (including alluvium) and weathered rock containing bands/seams with varying degrees of hardness but not voids. I do not know how well it will work where voids are present. If the voids are large and not just open joints in hard rock then filling the voids may be a challenge.