The COMRADE system for multirobot autonomous landmine detection in postconflict regions

Prithviraj Dasgupta, José Baca, K. R. Guruprasad, Angélica Munõz-Meléndez, Janyl Jumadinova

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

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.

Original languageEnglish (US)
Article number921370
JournalJournal of Robotics
Volume2015
DOIs
StatePublished - Jan 1 2015

Fingerprint

Robots
Sensors
Metal detectors
Information use
Electric fuses
Mobile robots
Landmine detection
Robotics
Agglomeration
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science(all)

Cite this

The COMRADE system for multirobot autonomous landmine detection in postconflict regions. / Dasgupta, Prithviraj; Baca, José; Guruprasad, K. R.; Munõz-Meléndez, Angélica; Jumadinova, Janyl.

In: Journal of Robotics, Vol. 2015, 921370, 01.01.2015.

Research output: Contribution to journalArticle

Dasgupta, Prithviraj ; Baca, José ; Guruprasad, K. R. ; Munõz-Meléndez, Angélica ; Jumadinova, Janyl. / The COMRADE system for multirobot autonomous landmine detection in postconflict regions. In: Journal of Robotics. 2015 ; Vol. 2015.
@article{516286411908497383a9586cce9668d3,
title = "The COMRADE system for multirobot autonomous landmine detection in postconflict regions",
abstract = "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.",
author = "Prithviraj Dasgupta and Jos{\'e} Baca and Guruprasad, {K. R.} and Ang{\'e}lica Mun{\~o}z-Mel{\'e}ndez and Janyl Jumadinova",
year = "2015",
month = "1",
day = "1",
doi = "10.1155/2015/921370",
language = "English (US)",
volume = "2015",
journal = "Journal of Robotics",
issn = "1687-9600",
publisher = "Hindawi Publishing Corporation",

}

TY - JOUR

T1 - The COMRADE system for multirobot autonomous landmine detection in postconflict regions

AU - Dasgupta, Prithviraj

AU - Baca, José

AU - Guruprasad, K. R.

AU - Munõz-Meléndez, Angélica

AU - Jumadinova, Janyl

PY - 2015/1/1

Y1 - 2015/1/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84947650236&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84947650236&partnerID=8YFLogxK

U2 - 10.1155/2015/921370

DO - 10.1155/2015/921370

M3 - Article

VL - 2015

JO - Journal of Robotics

JF - Journal of Robotics

SN - 1687-9600

M1 - 921370

ER -