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Title

DYLEMA: Using walking robots for landmine detection and location

AuthorsGonzález de Santos, Pablo; García Armada, Elena ; Estremera, Joaquín; Armada, Manuel
KeywordsDYLEMA
Walking robots
Landmine detection
Landmine location
Issue Date15-Jul-2005
PublisherTaylor & Francis
CitationInternational Journal of Systems Science Vol. 36, No. 9, 15 July 2005, 545–558
AbstractDetection and removal of antipersonnel landmines is an important worldwide concern. A huge number of landmines has been deployed over the last twenty years, and demining will take several more decades, even if no more mines were deployed in future. An adequate mineclearance rate can only be achieved by using new technologies such as improved sensors, efficient manipulators and mobile robots. This paper presents some basic ideas on the configuration of a mobile system for detecting and locating antipersonnel landmines efficiently and effectively. The paper describes the main features of the overall system, which consists of a sensor head that can detect certain landmine types, a manipulator to move the sensor head over large areas, a locating system based on a global-positioning system, a remote supervisor computer and a legged robot used as the subsystems’ carrier. The whole system has been configured to work in a semi-autonomous mode with a view also to robot mobility and energy efficiency.
Publisher version (URL)http://www.tandf.co.uk/journals
URIhttp://hdl.handle.net/10261/7987
DOIhttp://dx.doi.org/10.1080/00207720500119197
Appears in Collections:(IAI) Comunicaciones congresos
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