EXPLORATION AND MAPPING OF ANCIENT UNDERGROUND TUNNELS WITH A HETEROGENEOUS ROBOT TEAM

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dc.authoridTuna, Gurkan/0000-0002-6466-4696
dc.authorwosidTuna, Gurkan/AAG-4412-2019
dc.contributor.authorSavran, Dogan
dc.contributor.authorTuna, Gurkan
dc.date.accessioned2024-06-12T10:51:39Z
dc.date.available2024-06-12T10:51:39Z
dc.date.issued2016
dc.departmentTrakya Üniversitesien_US
dc.description16th International Multidisciplinary Scientific Geoconference (SGEM 2016) -- JUN 30-JUL 06, 2016 -- Albena, BULGARIAen_US
dc.description.abstractAlthough archaeologists have a great desire to uncover ancient underground tunnels, it is a really hard work since most of the ancient tunnels are very small, measuring only around 60 in width, typically just enough for a person to crawl through. In addition, although most ancient underground tunnels include small rooms and storage chambers in some places, since the tunnels are generally very long, exploring and mapping those tunnels is not practical at all by using such an approach. In this paper, we present a novel approach to explore and map ancient underground tunnels. The approach we present is based on a combination of autonomous mobile robots, namely a water-proof autonomous mobile robot and an unmanned aerial vehicle. In our approach, while the mobile robot is responsible for exploring and mapping of underground tunnels, the unmanned aerial vehicle is used to map and localize the tunnels on a global map. With a set of calculations realized with handheld highly-accurate GPS devices, possible mapping errors are minimized. A case study is presented to explain the proposed approach.en_US
dc.description.sponsorshipBulgarian Acad Sci,Acad Sci Czech Republ,Latvian Acad Sci,Polish Acad Sci,Russian Acad Sci,Serbian Acad Sci & Arts,Slovak Acad Sci,Natl Acad Sci Ukraine,Inst Water Problem & Hydropower NAS KR,Natl Acad Sci Armenia,Sci Council Japan,World Acad Sci,European Acad Sci Arts & Lett,Acad Sci Moldova,Montenegrin Acad Sci & Arts,Croatian Acad Sci & Arts,Georgian Natl Acad Sci,Acad Fine Arts & Design Bratislava,Turkish Acad Sci,Bulgarian Ind Assoc,Bulgarian Minist Environm & Wateren_US
dc.identifier.endpage304en_US
dc.identifier.isbn978-619-7105-59-9
dc.identifier.issn1314-2704
dc.identifier.startpage297en_US
dc.identifier.urihttps://hdl.handle.net/20.500.14551/18437
dc.identifier.wosWOS:000395499500038en_US
dc.identifier.wosqualityN/Aen_US
dc.indekslendigikaynakWeb of Scienceen_US
dc.language.isoenen_US
dc.publisherStef92 Technology Ltden_US
dc.relation.ispartofInformatics, Geoinformatics And Remote Sensing Conference Proceedings, Sgem 2016, Vol Iien_US
dc.relation.publicationcategoryKonferans Öğesi - Uluslararası - Kurum Öğretim Elemanıen_US
dc.rightsinfo:eu-repo/semantics/closedAccessen_US
dc.subjectAncient Underground Tunnelsen_US
dc.subjectAqueductsen_US
dc.subjectExplorationen_US
dc.subjectMappingen_US
dc.subjectAlignmenten_US
dc.titleEXPLORATION AND MAPPING OF ANCIENT UNDERGROUND TUNNELS WITH A HETEROGENEOUS ROBOT TEAMen_US
dc.typeConference Objecten_US

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