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A multi-robot system for the detection of explosive devices

Ken Hasselmann, Mario Malizia, Rafael Caballero, Fabio Polisano, Shashank Govindaraj, Jakob Stigler, Oleksii Ilchenko, Milan Bajic, Geert De Cubber

TL;DR

IEDs/EOs/landmines in hazardous environments present critical safety challenges that motivate autonomous robotics for detection and clearance. The paper proposes a heterogeneous multi-robot framework combining UAVs and UGVs with a rich sensor suite (including EMI, GPR, XRB, Raman, IR, hyperspectral, and RGB) and onboard processing to perform rapid exploration and threat classification, starting from a centralized control model and evaluating swarm-inspired decentralised options. The methodology features a two-phase detection process: fast aerial terrain exploration to generate threat heatmaps, followed by a ground-based manipulation phase using XRB and Raman sensing for validation and classification. The work aims to improve speed, safety, and robustness in threat localization through distributed sensing, data fusion, and redundancy, with annual field tests under an EDF-funded challenge to validate and mature the approach.

Abstract

In order to clear the world of the threat posed by landmines and other explosive devices, robotic systems can play an important role. However, the development of such field robots that need to operate in hazardous conditions requires the careful consideration of multiple aspects related to the perception, mobility, and collaboration capabilities of the system. In the framework of a European challenge, the Artificial Intelligence for Detection of Explosive Devices - eXtended (AIDEDeX) project proposes to design a heterogeneous multi-robot system with advanced sensor fusion algorithms. This system is specifically designed to detect and classify improvised explosive devices, explosive ordnances, and landmines. This project integrates specialised sensors, including electromagnetic induction, ground penetrating radar, X-Ray backscatter imaging, Raman spectrometers, and multimodal cameras, to achieve comprehensive threat identification and localisation. The proposed system comprises a fleet of unmanned ground vehicles and unmanned aerial vehicles. This article details the operational phases of the AIDEDeX system, from rapid terrain exploration using unmanned aerial vehicles to specialised detection and classification by unmanned ground vehicles equipped with a robotic manipulator. Initially focusing on a centralised approach, the project will also explore the potential of a decentralised control architecture, taking inspiration from swarm robotics to provide a robust, adaptable, and scalable solution for explosive detection.

A multi-robot system for the detection of explosive devices

TL;DR

IEDs/EOs/landmines in hazardous environments present critical safety challenges that motivate autonomous robotics for detection and clearance. The paper proposes a heterogeneous multi-robot framework combining UAVs and UGVs with a rich sensor suite (including EMI, GPR, XRB, Raman, IR, hyperspectral, and RGB) and onboard processing to perform rapid exploration and threat classification, starting from a centralized control model and evaluating swarm-inspired decentralised options. The methodology features a two-phase detection process: fast aerial terrain exploration to generate threat heatmaps, followed by a ground-based manipulation phase using XRB and Raman sensing for validation and classification. The work aims to improve speed, safety, and robustness in threat localization through distributed sensing, data fusion, and redundancy, with annual field tests under an EDF-funded challenge to validate and mature the approach.

Abstract

In order to clear the world of the threat posed by landmines and other explosive devices, robotic systems can play an important role. However, the development of such field robots that need to operate in hazardous conditions requires the careful consideration of multiple aspects related to the perception, mobility, and collaboration capabilities of the system. In the framework of a European challenge, the Artificial Intelligence for Detection of Explosive Devices - eXtended (AIDEDeX) project proposes to design a heterogeneous multi-robot system with advanced sensor fusion algorithms. This system is specifically designed to detect and classify improvised explosive devices, explosive ordnances, and landmines. This project integrates specialised sensors, including electromagnetic induction, ground penetrating radar, X-Ray backscatter imaging, Raman spectrometers, and multimodal cameras, to achieve comprehensive threat identification and localisation. The proposed system comprises a fleet of unmanned ground vehicles and unmanned aerial vehicles. This article details the operational phases of the AIDEDeX system, from rapid terrain exploration using unmanned aerial vehicles to specialised detection and classification by unmanned ground vehicles equipped with a robotic manipulator. Initially focusing on a centralised approach, the project will also explore the potential of a decentralised control architecture, taking inspiration from swarm robotics to provide a robust, adaptable, and scalable solution for explosive detection.
Paper Structure (11 sections, 2 figures)

This paper contains 11 sections, 2 figures.

Table of Contents

  1. INTRODUCTION
  2. Robotics in hazardous environments
  3. Challenges and objectives in demining robotics
  4. Advancements in unmanned systems for demining robotics
  5. PROBLEM STATEMENT
  6. METHODS
  7. Fast terrain exploration and first detection phase
  8. Second detection phase
  9. Communication and autonomy
  10. TIMELINE
  11. CONCLUSIONS

Figures (2)

  • Figure 1: High level architecture of the AIDEDeX system. The system comprises six robots, one , two , one , and two . The mission control center (left) sends the mission to the multi-robot system (right). The sensors installed on the different robots are presented in green boxes: Electromagnetic Induction (EMI), Ground Penetrating Radar (GPR), X-Ray Backscatter Imaging (XRB), Raman Spectrometer (RS), LiDAR, Infrared (IR), hyperspectral, and RGB cameras.
  • Figure 2: The robots used in the AIDEDeX system.a, the CATEC 750 ; b, the Robotnik SUMMIT XL ; c, the PIAP Patrol . Image credits: a, CATEC (https://www.catec.aero); b, Robotnik (https://robotnik.eu); c, PIAP (https://piap.lukasiewicz.gov.pl).