Sensor Based Coverage of Unknown Environment for Land Mine Detection

Ercan Acar, Morgan Simmons, Michael Rosenblatt, Maayan Roth, Mary Berna, Yonatan Mittlefehldt and Howie Choset, Carnegie Mellon University

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.

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