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In robotic demining, the robot relies on a path-planner capable of generating trajectories to search for all the mines while avoiding obstacles whose locations are unknown. Several families of coverage algorithms exist but there is only one that guarantees complete coverage, the exact cellular decomposition family. This paper details the modifications performed to a cellular decomposition method for unstructured environments for its application to walking robots. Experiments show preliminary results and improvements to the method are proposed.

This paper displays the development of a mobile robot that performs Remote Explosive Scent Tracing Sampling for Humanitarian Demining using screw-drive modules. The design covers the analysis of the sampling task, conceptual design, locomotion analysis, sampling system analysis, carrier design, and controller selection. This modular mobile robot is characterized by its simplicity and its all-around body locomotion. The locomotion by means of screws allows the robot to omnidirectionally propel itself and explore harsh environments using an adequate combination of the angular speeds of each screw. A detailed study of forces present in the screw locomotion is explained. One approximation for the kinematic model was proposed and simulated with a trajectory tracking control.

This article concerns current progress in the development of multi robot simulation for TIRAMISU project. This simulator is designed for training of UGV (Unmanned Ground Vehicles) operators in cooperative mission execution. The core components of the system are implemented using VORTEX physics simulation engine with OSG (Open Scene Graph) used for rendering. The engine provides an accurate physics simulation for robots working on a single stage. The main goal during development was to prepare a multi robot architecture for the simulation. The challenge was to integrate all simulation components into a common framework, therefore allowing the robots to interact with each other, without lose of simulation accuracy. Current version of the simulator has two types of robots: a) iRobot-PacBot b)LOCSTRA - a TIRAMISU robot for humanitarian demining. An example of multi robot scenario, transportation of UXO (UneXploded Ordnance), will be discussed.

In the aftermath of a war, the existence of buried landmines poses special threats for the local population and human deminers. Although the problem is arguably getting worse, there is a strong potential for robotic solutions to tackle it. In this paper, we outline the challenges involved in humanitarian demining and the technologies currently used in the field. Based on this, we discuss the requirements for proper robotized solutions and overview the effort that has been made by the research community and the trends that have emerged.