Autonomous Mobile Manipulation for Safe and Efficient Landmine Disposal

Landmines are a critical threat, endangering not only military personnel during conflicts, but also civilian population long after the conflict is over. This underscores the urgent need for safer and more efficient demining methods. In this paper, we explore solutions for the critical phase following mine detection, emphasizing autonomous collection and disposal processes performed by a robotic system. More specifically, this paper presents a theoretical framework for a novel mobile manipulation methodology for demining and explosive disposal operations. The challenges inherent in this operation are multiple, including identifying optimal grasping points, calibrating applied force, maintaining obstacle awareness, and overcoming visibility obstructions around
the mine. Building upon recent developments in 3D computer vision and mobile manipulators, we propose a method for the autonomous handling and disposal of mines. The integration of a mobile manipulator combines the mobility of a mobile platform with the dexterity of a manipulator, allowing coordinated access to even the most challenging locations. The use of artificial intelligence (AI) improves scene comprehension including 3D reconstruction of the target area and the computation of the optimal gripping solution for target manipulation.
By advancing these technologies, we aim to enhance the safety and efficiency of demining operations, ultimately reducing the risk to human operators and contributing to global efforts in landmine removal.