Publications / 1985 Proceedings of the 2nd ISARC, Pittsburgh, USA
We have demonstrated in our laboratory the rudimentary sensor-driven excavation of pipes buried at shallow depths. Our system integrates sonar range sensing, a surface depth map, segmentation of pipe searching, simple digging strategies, distributed computing and off-line simulation. Our hardware is a manipulator mounted to a backhoe and a vacuum tool simulates the air jet tool intended for field excavation.