Efficient measurement planning for remote gas sensing with mobile robots

Muhammad Asif Arain, Marcello Cirillo, Victor Hernandez Bennetts, Erik Schaffernicht, Marco Trincavelli, Achim J. Lilienthal

Publikation: Beitrag in Buch/Bericht/KonferenzbandKonferenzbeitragBegutachtung

15 Zitate (Scopus)

Abstract

The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and surveillance. In this paper we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor. We propose a novel method based on convex relaxation for quickly finding an exploration plan that guarantees a complete coverage of the environment. Our method proves to be highly efficient in terms of computational requirements and to provide nearly-optimal solutions. We validate our approach both in simulation and in real environments, thus demonstrating its applicability to real-world problems.

OriginalspracheEnglisch
Titel2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Herausgeber (Verlag)Institute of Electrical and Electronics Engineers Inc.
Seiten3428-3434
Seitenumfang7
AuflageJune
ISBN (elektronisch)9781479969234
DOIs
PublikationsstatusVeröffentlicht - 29 Juni 2015
Extern publiziertJa
Veranstaltung2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, USA/Vereinigte Staaten
Dauer: 26 Mai 201530 Mai 2015

Publikationsreihe

NameProceedings - IEEE International Conference on Robotics and Automation
NummerJune
Band2015-June
ISSN (Print)1050-4729

Konferenz

Konferenz2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Land/GebietUSA/Vereinigte Staaten
OrtSeattle
Zeitraum26/05/1530/05/15

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