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Journal of Robotics
Volume 2012, Article ID 698046, 17 pages
Research Article

Minefield Mapping Using Cooperative Multirobot Systems

1Robotics and Autonomous Systems (RAS) Research Group, German University in Cairo, New Cairo, Cairo 11835, Egypt
2Engineering Science Department, Suez Canal University, Suez, 43721, Egypt

Received 30 June 2012; Revised 11 September 2012; Accepted 17 October 2012

Academic Editor: Huosheng Hu

Copyright © 2012 Alaa Khamis and Asser ElGindy. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a team-theoretic approach to cooperative multirobot systems. The individual actions of the robots are controlled by the Belief-Desire-Intention model to endow the robots with the know-how needed to execute these actions deliberately. The cooperative behaviors between the heterogeneous robots are governed by the Team-Log theory to endow all the robots in the team with the know-how-to-cooperate and determine the team members’ commitments to each other despite their different types, properties, and goals. The proposed approach is tested for validity with the real life problem of minefield mapping. Different minefield sweeping strategies are studied to control the mobility of the mobile sweepers within the minefield in order to maximize the area coverage and improve picture compilation capability of the multirobot system.