Sensor based coverage of unknown environments for land mine detection

  • Authors:

  • Ercan Acar;Morgan Simmons;Michael Rosenblatt;Maayan Roth;Mary Berna;Yonatan Mittlefehldt;Howie Choset

  • Affiliations:

  • -;-;-;-;-;-;-

  • Venue:
  • AAAI '99/IAAI '99 Proceedings of the sixteenth national conference on Artificial intelligence and the eleventh Innovative applications of artificial intelligence conference innovative applications of artificial intelligence
  • Year:
  • 1999

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Abstract

This paper introduces a sensor based coverage algorithm and an overview of a mobile robot system for demining. The algorithm is formulated in terms of critical points which are the points where the topology of an environment changes. We developed a provably complete coverage algorithm which makes a robot pass over all possible points of an unknown environment.