TY - GEN
T1 - Efficient measurement planning for remote gas sensing with mobile robots
AU - Arain, Muhammad Asif
AU - Cirillo, Marcello
AU - Bennetts, Victor Hernandez
AU - Schaffernicht, Erik
AU - Trincavelli, Marco
AU - Lilienthal, Achim J.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84938248463&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139673
DO - 10.1109/ICRA.2015.7139673
M3 - Conference contribution
AN - SCOPUS:84938248463
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3428
EP - 3434
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -