A Multi-Robot System for Landmine Detection

2007

Abstract: This paper summarises the main results of 10 years of research and development in Humanitarian Demining. The Hudem project focuses on mine detection systems and aims at provided different solutions to support the mine detection operations. Robots using different kind of locomotion systems have been designed and tested on dummy minefields. In order to control these robots, software interfaces, control algorithms, visual positioning and terrain following systems have also been developed.

In this paper, we present a ground robotic system which is developed to deal with rough outdoor conditions. The platform is to be used as an environmental monitoring robot for 2 main application areas: 1) Humanitarian demining: The vehicle is equipped with a specialized multichannel metal detector array. An unmanned aerial system supports it for locating suspected locations of mines, which can then be confirmed by the ground vehicle. 2) Search and rescue: The vehicle is equipped with human victim detection sensors and a 3D camera enabling it to assess the traversability of the terrain in front of the robot in order to be able to navigate autonomously. This paper discusses both the mechanical design of these platforms as the autonomous perception capabilities on board of these vehicles.

In this paper, we discuss the integration process of a mobile robot and multi-channel metal detector system intended for humanitarian demining applications within the EU FP7 TIRAMISU project. The paper describes how a standard tele-operated Explosive Ordnance Disposal (EOD) robot was upgraded with electronics, sensors, computing power, motor control units and power sources, such that it becomes able to execute humanitarian demining tasks. To be able to detect land mines we have integrated with the mobile robot platform a multi-channel metal detector system which is a specialized sensor system for demining platforms developed by Vallon GmbH. In order to evaluate the proposed system integration we have performed first test and validation activities done at the SEDEE-DOVO test field (dummy minefield and UXO test site) of the Belgium Defense. Our first data acquisition results obtained during test and validation activities with the systems are reported. Lessons learned during the work conclude this paper.

2007

Removal of antipersonnel landmines is a worldwide problem currently requiring the use of new technologies such as improved sensors and efficient mobile robots. This paper is focused on the description of a system that relies on a walking robot that carries sensors to detect and locate antipersonnel landmines efficiently and effectively. The paper describes the main features of the walking robot and additional equipment purposefully developed for this kind of application. The overall system consists of a sensor head that can detect certain landmine types, a manipulator to move the sensor head over large areas, a locating system based on a global positioning system, a remote supervisor computer and the SILO6 walking robot used as the subsystems' carrier. The whole system has been configured to work in a semi-autonomous mode with a view also to robot mobility and energy efficiency. Some of the achievements already accomplished with this system are reported.

Mobile Service Robotics, 2014

In the aftermath of a war, the existence of buried landmines poses special threats for the local population and human deminers. Although the problem is arguably getting worse, there is a strong potential for robotic solutions to tackle it. In this paper, we outline the challenges involved in humanitarian demining and the technologies currently used in the field. Based on this, we discuss the requirements for proper robotized solutions and overview the effort that has been made by the research community and the trends that have emerged.

Landmines are dangerous military equipments that threat people’s lives and cause economic problems. They are harmful because of their unknown locations and difficulty to detect. Detecting and clearing mines demand special expertise. In this paper, we present a low-cost system for landmines detection. We describe the strategy that can help to detect mines using a multisensor robot and path planning algorithm for searching mines. We present how the robot can get information from different sensors to guide soldiers to detect landmines. The purpose is to give an efficient solution of the landmines problem by using a tele mobile robots that are capable of exploring and destroying buried landmines. The proposed robot is using sensor fusion technique to increase the probability of mine detection. We developed decision level fusion to decrease false alarms.

Humanitarian Demining, 2008

Humanitarian Demining: Innovative Solutions and the Challenges of Technology 264 Along with these robot-oriented developments, a multi-agent supporting software platform will also be presented. The multi-agent paradigm is well suited to enhance multi-experts and multi-robots inter-operability. In addition, the platform facilitates scalability, allowing robots and humans (i.e. agents) to be added/removed to/from a mission in a seamless way. A third feature that comes hand-in-hand with the multi-agent paradigm is modularity, something essential to foster vertical development and integration with off-line tools, such as simulation-based training applications. This work is being carried out since 2003 by a portuguese SME, IntRoSys S.A., in partnership with UNINOVA research centre of the New University of Lisbon and LabMAg research centre of the University of Lisbon. This joint collaboration emerged from the acknowledgement of a business and scientific opportunity stemming from the unavailability of sustainable robotic systems applicable to the mine action domain.

Design and Application

The need to clean almost 1 million landmines on the Turkish border poses a great challenge to the Turkish military, both as a safety and a feasibility issue. In order to achieve this task, an Explosive Ordnance Disposal (EOD) robot has been designed and a prototype has been manufactured. The robot has the capability of working in task space. The uniqueness of this research is that the design criteria and the prototype procedure is explained in detail. After the testing of the prototype, the research results are concluded-which functions the future EOD robots should have and how these functions can improve the performance and ease of use of this type of military robots. Autonomy, use of an advisory system, and automatic camera manipulation can improve the future EOD robots dramatically.

There are many countries affected by landmines which present a major threat to lives and cause economic problems. Landmines are harmful because of their unknown positions and often difficult to detect. The development of new demining technologies is difficult because of the tremendous diversity of terrains and environmental conditions in which mines are laid and also because of the wide variety of landmines. Currently, detecting and clearing mines demand specific expertise with special equipment. This paper presents different techniques used for landmines detection. It discusses the strategies that can enable the robot to detect mines by means of sensors. This paper deals also with the processing of the fused information from different sensors to guide soldiers when passing landmines. The purpose is to give an overview of the landmines detection techniques by using the autonomous robots which are capable of exploring and detecting buried landmines and marking their locations.

1999 Third European Workshop on Advanced Mobile Robots (Eurobot'99). Proceedings (Cat. No.99EX355), 1999

This paper presents a novel approach to the detection of anti-personnel landmines that uses teams of cooperating robots. Following hints that originate both from classical robotics and from biology, we aim to defining a set of search strategies suitable for being used in an obstacle-cluttered, two-dimensional space. The paper presents the guidelines of the project, the search strategies that were developed, and the description of a simulator that was designed and implemented to test them.