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.
Registration: ISBN 978-0-262-51106-3
Copyright: July 18-22, 1999, Orlando, Florida. Published by The AAAI Press, Menlo Park, California.