EXPLORATION AND MAPPING OF ANCIENT UNDERGROUND TUNNELS WITH A HETEROGENEOUS ROBOT TEAM
Küçük Resim Yok
Tarih
2016
Yazarlar
Dergi Başlığı
Dergi ISSN
Cilt Başlığı
Yayıncı
Stef92 Technology Ltd
Erişim Hakkı
info:eu-repo/semantics/closedAccess
Özet
Although archaeologists have a great desire to uncover ancient underground tunnels, it is a really hard work since most of the ancient tunnels are very small, measuring only around 60 in width, typically just enough for a person to crawl through. In addition, although most ancient underground tunnels include small rooms and storage chambers in some places, since the tunnels are generally very long, exploring and mapping those tunnels is not practical at all by using such an approach. In this paper, we present a novel approach to explore and map ancient underground tunnels. The approach we present is based on a combination of autonomous mobile robots, namely a water-proof autonomous mobile robot and an unmanned aerial vehicle. In our approach, while the mobile robot is responsible for exploring and mapping of underground tunnels, the unmanned aerial vehicle is used to map and localize the tunnels on a global map. With a set of calculations realized with handheld highly-accurate GPS devices, possible mapping errors are minimized. A case study is presented to explain the proposed approach.
Açıklama
16th International Multidisciplinary Scientific Geoconference (SGEM 2016) -- JUN 30-JUL 06, 2016 -- Albena, BULGARIA
Anahtar Kelimeler
Ancient Underground Tunnels, Aqueducts, Exploration, Mapping, Alignment
Kaynak
Informatics, Geoinformatics And Remote Sensing Conference Proceedings, Sgem 2016, Vol Ii
WoS Q Değeri
N/A
