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This chapter reports the latest results of an attempt made in Sri Lanka to develop a human- animal-robot integrated system to detect anti-personal landmines. In this study, a mongoose was trained to sniff for landmines. It was attached to a semi-autonomous legged mobile robot. The robot could sense the direction of movement of the mongoose. The robot used this direction information along with commands sent by a remote human operator to modify its own semi-autonomous behaviors. The human operator gave overall commands as to which direction the robot should move. The robot took care of detailed tasks such as obstacle avoidance, monitoring the environment immediately in front of it, and guiding the mongoose. The mobile robot was a laboratory made fully embedded platform with simple sensors such as bumper switches and a sonar sensor. Experiments were carried out in typical environments where anti-personal landmines are buried in Sri Lanka.

A Human-Animal-Robot Cooperative System for Anti-Personal Mine Detection