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

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

15 Scopus citations

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.

Original languageEnglish
Title of host publication2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3428-3434
Number of pages7
EditionJune
ISBN (Electronic)9781479969234
DOIs
StatePublished - 29 Jun 2015
Externally publishedYes
Event2015 IEEE International Conference on Robotics and Automation, ICRA 2015 - Seattle, United States
Duration: 26 May 201530 May 2015

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
NumberJune
Volume2015-June
ISSN (Print)1050-4729

Conference

Conference2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Country/TerritoryUnited States
CitySeattle
Period26/05/1530/05/15

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