The Pemex-B autonomous demining robot: perception and navigation strategies

Nicoud, Jean-Daniel; Habib, Maki K.

doi:10.1109/iros.1995.525830

Cited by 37 publications

(22 citation statements)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Still robots are well for clean environments [20][21][22][23][24][25][26]. However, demining area is not lat and it consist lot of obstacles.…”

Section: Robots and Humanitarian Deminingmentioning

confidence: 99%

Robots for Humanitarian Demining

Hemapala¹

2017

Robots Operating in Hazardous Environments

View full text Add to dashboard Cite

More than 100,000,000 anti-personnel mines have been laid in deferent part of the world by terrorists or government forces. The mines are cheapest weapon, built to make horrible injuries, afecting active people, with major falls-of into economic growth.Therefore, after or during a war demining is a big technological problem which needs to address by the governments. All demining activities can be classiied mainly in two different ways, military demining and humanitarian demining. Main objective of military demining is to make a quick safe path for troops and may be 80% clearing is enough for them. On the other hand, humanitarian demining target is to clear 100% to ensure the use of lands by people who are not involved in the conlicts for their day-to-day activities including farming. Mainly humanitarian demining has two tasks: detection and removal. Still the use of robots is questionable in this regard. Mainly robots work well for clean and reliable tasks. When the price to performance ratio is too high, they are academic toys. This chapter presents the overview of the available robotic technologies with a depth comparison between them by considering the appropriateness to the local context.

show abstract

“…Still robots are well for clean environments [20][21][22][23][24][25][26]. However, demining area is not lat and it consist lot of obstacles.…”

Section: Robots and Humanitarian Deminingmentioning

confidence: 99%

Robots for Humanitarian Demining

Hemapala¹

2017

Robots Operating in Hazardous Environments

View full text Add to dashboard Cite

show abstract

“…A similar check is done for the opposite direction (lines 9-12). However, if the solution calls for moving bi-directionally, than the algorithm first checks which direction involves less movement, CCW (lines [13][14][15][16][17] or CW (18)(19)(20)(21)(22). In either case, the direction involving less movement is taken first, since it will be backtracked-over in the counter direction.…”

Section: Algorithmmentioning

confidence: 99%

On redundancy, efficiency, and robustness in coverage for multiple robots

Hazon

Kaminka

2008

Robotics and Autonomous Systems

113

View full text Add to dashboard Cite

“…Other applications of robotic covering are in cleaning hazardous waste [33] and demining, i.e., the removal of mines from old mine fields. A centralized multirobot system for the exploration and cleaning of mines is presented in [41] with experimental results. A more recent work [46] suggests a distributed behavior-based approach to the control of a group of mobile robots performing a clean-up and collection task, empirically demonstrating its performance.…”

Section: A Related Work 1) Robotic Coveringmentioning

confidence: 99%

Distributed covering by ant-robots using evaporating traces

Wagner

Lindenbaum

Bruckstein

1999

IEEE Trans. Robot. Automat.

233

137

View full text Add to dashboard Cite

Abstract-Ants and other insects are known to use chemicals called pheromones for various communication and coordination tasks. In this paper, we investigate the ability of a group of robots, that communicate by leaving traces, to perform the task of cleaning the floor of an un-mapped building, or any task that requires the traversal of an unknown region. More specifically, we consider robots which leave chemical odor traces that evaporate with time, and are able to evaluate the strength of smell at every point they reach, with some measurement error. Our abstract model is a decentralized multiagent adaptive system with a shared memory, moving on a graph whose vertices are the floor-tiles. We describe three methods of covering a graph in a distributed fashion, using smell traces that gradually vanish with time, and show that they all result in eventual task completion, two of them in a time polynomial in the number of tiles. As opposed to existing traversal methods (e.g., depth first search), our algorithms are adaptive: they will complete the traversal of the graph even if some of the a(ge)nts die or the graph changes (edges/vertices added or deleted) during the execution, as long as the graph stays connected. Another advantage of our agent interaction processes is the ability of agents to use noisy information at the cost of longer cover time.

show abstract

The Pemex-B autonomous demining robot: perception and navigation strategies

Cited by 37 publications

References 10 publications

Robots for Humanitarian Demining

Robots for Humanitarian Demining

On redundancy, efficiency, and robustness in coverage for multiple robots

Distributed covering by ant-robots using evaporating traces

Contact Info

Product

Resources

About