The goal of our research is to develop an autonomous robot for subsurface mapping. We are motivated by the growing need for mapping buried pipes, hazardous waste, landmines and other buried objects. Most of these are large scale mapping problems, and to manually construct subsurface maps in these cases would require a significant amount of resources. Therefore, automating the subsurface mapping process is an important factor in alleviating these problems. To achieve our goal, we have developed a robotic system that can autonomously gather and process Ground Penetrating Radar (GPR) data. The system uses a scanning laser rangefinder to.
