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is designed to clear APMs (anti-personnel mines) after disposing ATMs (anti-tank mines) and UXOs (unexploded ordnances). Needless to say, the first keyword “complete removal” is inevitable and is the most important. The second one “automation” has two meanings, that is, safety and efficiency. In the conventional research, detection and removal of mines are considered as different works, and the removal is after the detection. However, in the case of the excavation-type demining robot, detecting work will be omitted because the robot disposes of all mines in the target area. As the result, no error caused in the detecting work brings the demining rate near to 100%. Currently, the demining work mainly depends on hazardous manual removal by humans; it presents serious safety and efficiency issues. For increased safety and efficiency, some large-sized machines have been developed. For example, the German

PEACE: An Excavation-Type Demining Robot for Anti-Personnel Mines