S. Taraglio, G. Bonanno, C. Moriconi, V. Nanni, and S. Pagnottelli (Italy)
autonomous robotics, Kalman filter, archaeology, ground penetrating radar.
The search for an underground cave of utter historical importance is performed with the aid of an autonomous robot. This autonomy is reached through the self localisation deriving from the fusion of data incoming from the robot odometry, a GPS system and a magnetic compass. The system carries a ground penetrating radar to spot underground cavities. The found underground voids have been geo-referenced and have helped in the correct localization of the cave.
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