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Path Planning for Robotic Demining and Development of a Test Platform
E. Acar, Y. Zhang, H. Choset, M. Schervish, A. Costa, R. Melamud, D. Lean, and A. Graveline
Proceedings of the 2001 International Conference on Field and Service Robotics, 2001, pp. 161 - 168.

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This paper overviews path planning methods, systematic versus probabilistic for robotic demining, and a robot development project. We outline a complete sensor-based coverage algorithm that uses an exact cellular decomposition method. To decrease coverage duration, we introduce a probabilistic method that takes advantage of a priori known mine patterns. Then, we give a comparison of random versus coordinated coverage. Finally, we present a summary of the development of the mobile test platform.

Associated lab/group: Biorobotics
Associated project: Robotic Demining

Number of pages: 8

E. Acar, Y. Zhang, H. Choset, M. Schervish, A. Costa, R. Melamud, D. Lean, and A. Graveline, "Path Planning for Robotic Demining and Development of a Test Platform," Proceedings of the 2001 International Conference on Field and Service Robotics, 2001, pp. 161 - 168.

@inproceedings{Acar_2001_4454,
   author = "Ercan Acar and Yangang Zhang and Howie Choset and Mark Schervish and Albert Costa and Renata Melamud and David Lean and Amy Graveline",
   title = "Path Planning for Robotic Demining and Development of a Test Platform",
   booktitle = "Proceedings of the 2001 International Conference on Field and Service Robotics",
   year = "2001",
   pages = "161 - 168"
}