Depending on soil characteristics, the searching raster can be set even to 1.25 cm. If the obstacle is detected at one or more neighboring points, there is a possibility of a landmine presence. Object recognition algorithms are used to analyze collected data, determining the size and the shape of the buried object. Otherwise, the buried object is too small to be the landmine. The robot moves five centimeters ahead and repeats the procedure.
Actual procedure depends on number of probes used.
If the sensor consists of more than one probe, an initial search is performed simultaneously using all probes. If an obstacle is detected, only probes near to the touch point are used to search the neighboring points. The search procedure is simulated for the PMA-3 antipersonnel mine. The mine is laid so that the top is buried at five centimeters bellow the surface. Terrain is searched with 5 cm, 2.5 cm and 1.25 cm raster respectively.