Development of an excavator-avoidance system for buried pipes. - Ryosuke Yajima; Shinya Katsuma; Makoto Suzuki; Fumiya Matsushita; Shunsuke Hamasaki; Pang-jo Chun; Keiji Nagatani; Genki Yamauchi; Takeshi Hashimoto; Atsushi Yamashita; Hajime Asama; Kazumasa Ozawa (Adv. Robotics, 2021)