It'll not only vill the void but help stabilize the soil under the void as well. Well worth it, tho be ready for it to take more "mud" than expected - sometimes those voids are pretty big.
If the ground is soggy/boggy, you *may* have to go in more than once - once to seal the bottom of the void, once to fill, and once to level. *****, but thats the nature of the beast.
Slow - *VERY* Slow - is important, especially when you hit the top of the void, to avoid either busting the slab (or seting up a future slab-busting pyramid underneath) or taking the slab out of level. Make sure whatever they use - laser levels, stringlines and torpedos, transits, etc. - that they know what they're doing, and more importantly KNOW WHEN TO STOP!
Another caution - if you have any underground utilities going into the slab (esp. electric conduit, for some reason) make SURE you can keep an eye on the bozes, etc... I can't tell you (a) how many times we've filled electrical boxes, making a mess to deal with, and (b) how far up and down a piece of conduit or unknown void that stuff will flow.
Any questions, PM me.
(ref - I worked on a highway mudjacking crew as a Drill, Acker & Stinger operator for 5 years, learned from a guy who did it 30+ years... fun stuff!)