Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots
2015 (English)In: 2015 IEEE International Conference on Robotics and Automation (ICRA), Washington, USA: IEEE Computer Society, 2015, 3428-3434 p.Conference paper (Refereed)
The problem of gas detection is relevant to manyreal-world applications, such as leak detection in industrialsettings and surveillance. In this paper we address the problemof gas detection in large areas with a mobile robotic platformequipped with a remote gas sensor. We propose a novelmethod based on convex relaxation for quickly finding anexploration plan that guarantees a complete coverage of theenvironment. Our method proves to be highly efficient in termsof computational requirements and to provide nearly-optimalsolutions. We validate our approach both in simulation andin real environments, thus demonstrating its applicability toreal-world problems.
Place, publisher, year, edition, pages
Washington, USA: IEEE Computer Society, 2015. 3428-3434 p.
Sensor planning, mobile robot olfaction, remote gas sensing
Research subject Computer Science
IdentifiersURN: urn:nbn:se:oru:diva-46796DOI: 10.1109/ICRA.2015.7139673ISI: 000370974903063ISBN: 978-1-4799-6923-4OAI: oai:DiVA.org:oru-46796DiVA: diva2:874039
2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, May 26-30, 2015