The COMRADE System for Multirobot Autonomous Landmine Detection in Postconflict Regions
We consider the problem of autonomous landmine detection using a team of mobile robots. Previous research on robotic landmine detection mostly employs a single robot equipped with a landmine detection sensor to detect landmines. We envisage that the quality of landmine detection can be significantly...
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| Format: | Article |
| Language: | English |
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Wiley
2015-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2015/921370 |
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| author | Prithviraj Dasgupta José Baca K. R. Guruprasad Angélica Muñoz-Meléndez Janyl Jumadinova |
| author_facet | Prithviraj Dasgupta José Baca K. R. Guruprasad Angélica Muñoz-Meléndez Janyl Jumadinova |
| author_sort | Prithviraj Dasgupta |
| collection | DOAJ |
| description | We consider the problem of autonomous landmine detection using a team of mobile robots. Previous research on robotic landmine detection mostly employs a single robot equipped with a landmine detection sensor to detect landmines. We envisage that the quality of landmine detection can be significantly improved if multiple robots are coordinated to detect landmines in a cooperative manner by incrementally fusing the landmine-related sensor information they collect and then use that information to visit locations of potential landmines. Towards this objective, we describe a multirobot system called COMRADES to address different aspects of the autonomous landmine detection problem including distributed area coverage to detect and locate landmines, information aggregation to fuse the sensor information obtained by different robots, and multirobot task allocation (MRTA) to enable different robots to determine a suitable sequence to visit locations of potential landmines while reducing the time required and battery expended. We have used commercially available all-terrain robots called Coroware Explorer that are customized with a metal detector to detect metallic objects including landmines, as well as indoor Corobot robots, both in simulation and in physical experiments, to test the different techniques in COMRADES. |
| format | Article |
| id | doaj-art-1a492b4e37624d9ab83bac0a04fd82cd |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2015-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-1a492b4e37624d9ab83bac0a04fd82cd2025-02-03T01:01:05ZengWileyJournal of Robotics1687-96001687-96192015-01-01201510.1155/2015/921370921370The COMRADE System for Multirobot Autonomous Landmine Detection in Postconflict RegionsPrithviraj Dasgupta0José Baca1K. R. Guruprasad2Angélica Muñoz-Meléndez3Janyl Jumadinova4Computer Science Department, University of Nebraska, Omaha, NE 68182, USAComputer Science Department, University of Nebraska, Omaha, NE 68182, USAMechanical Engineering Department, NIT, Surathkal, Karnataka 575025, IndiaComputer Science Department, INAOE, 72840 Puebla, PUE, MexicoComputer Science Department, Allegheny College, Meadville, PA 16335, USAWe consider the problem of autonomous landmine detection using a team of mobile robots. Previous research on robotic landmine detection mostly employs a single robot equipped with a landmine detection sensor to detect landmines. We envisage that the quality of landmine detection can be significantly improved if multiple robots are coordinated to detect landmines in a cooperative manner by incrementally fusing the landmine-related sensor information they collect and then use that information to visit locations of potential landmines. Towards this objective, we describe a multirobot system called COMRADES to address different aspects of the autonomous landmine detection problem including distributed area coverage to detect and locate landmines, information aggregation to fuse the sensor information obtained by different robots, and multirobot task allocation (MRTA) to enable different robots to determine a suitable sequence to visit locations of potential landmines while reducing the time required and battery expended. We have used commercially available all-terrain robots called Coroware Explorer that are customized with a metal detector to detect metallic objects including landmines, as well as indoor Corobot robots, both in simulation and in physical experiments, to test the different techniques in COMRADES.http://dx.doi.org/10.1155/2015/921370 |
| spellingShingle | Prithviraj Dasgupta José Baca K. R. Guruprasad Angélica Muñoz-Meléndez Janyl Jumadinova The COMRADE System for Multirobot Autonomous Landmine Detection in Postconflict Regions Journal of Robotics |
| title | The COMRADE System for Multirobot Autonomous Landmine Detection in Postconflict Regions |
| title_full | The COMRADE System for Multirobot Autonomous Landmine Detection in Postconflict Regions |
| title_fullStr | The COMRADE System for Multirobot Autonomous Landmine Detection in Postconflict Regions |
| title_full_unstemmed | The COMRADE System for Multirobot Autonomous Landmine Detection in Postconflict Regions |
| title_short | The COMRADE System for Multirobot Autonomous Landmine Detection in Postconflict Regions |
| title_sort | comrade system for multirobot autonomous landmine detection in postconflict regions |
| url | http://dx.doi.org/10.1155/2015/921370 |
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