Utility companies require conducting surveys to locate the distribution of power cables, a task that can be laborious. Inorder to solve this probelm, we've designed the DigSafe robot, capable of autonomously detecting cables, predicting their trajectory, and marking their locations on the ground. Our contribution involves novel algorithm of multi-sensor fusion and accurately predicting the path of underground power cables. Additionally, we've developed a tracking controller to follow the generated trajectory, validating it against global plan derived from GIS data when available, or autonomously exploring the environment to locate and mark cables as needed.
