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Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots
Örebro University, School of Science and Technology. (Mobile Robotics & Olfaction (MRO) Lab, Center of Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0002-5973-7424
Örebro University, School of Science and Technology. Scania AB, Granparksvagen 10, SE-15187 Södertälje, Sweden. (Mobile Robotics & Olfaction (MRO) Lab, Center of Applied Autonomous Sensor Systems (AASS))
Örebro University, School of Science and Technology. (Mobile Robotics & Olfaction (MRO) Lab, Center of Applied Autonomous Sensor Systems (AASS))ORCID iD: 0000-0001-5061-5474
Örebro University, School of Science and Technology. (Mobile Robotics & Olfaction (MRO) Lab, Center of Applied Autonomous Sensor Systems (AASS))
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2015 (English)In: 2015 IEEE International Conference on Robotics and Automation (ICRA), Washington, USA: IEEE Computer Society, 2015, 3428-3434 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.
Keyword [en]
Sensor planning, mobile robot olfaction, remote gas sensing
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-46796DOI: 10.1109/ICRA.2015.7139673ISI: 000370974903063ISBN: 978-1-4799-6923-4 (print)OAI: oai:DiVA.org:oru-46796DiVA: diva2:874039
Conference
2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, May 26-30, 2015
Available from: 2015-11-25 Created: 2015-11-25 Last updated: 2017-10-17Bibliographically approved

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Arain, Muhammad AsifCirillo, MarcelloHernandez Bennetts, VictorSchaffernicht, ErikTrincavelli, MarcoLilienthal, Achim J.
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