Figure 7
From: Active modification of the environment by a robot with construction abilities
One-part foam type: Snapshots of the process of filling a 200 mm ditch. The robot autonomously detects the ditch and moves forward slowly (A), and then ejects the polyurethane foam using a head sweeping motion (B). After each foam ejection, the robot moves backward and evaluates whether the ditch has been filled (C). The robot repeatedly ejects polyurethane foam (D). When the robot determines that the ditch has been filled, it moves backward and waits for 1 hour (E). Finally, the robot crosses the ditch (F).