The DustBot system: Using mobile robots to monitor pollution in pedestrian area

Matteo Reggente; Alessio Mondini; Gabriele Ferri; Barbara Mazzolai; Alessandro Manzi; Matteo Gabelletti; Paolo Dario; Achim J. Lilienthal

doi:10.3303/CET1023046

The DustBot system: Using mobile robots to monitor pollution in pedestrian area

Matteo Reggente, Alessio Mondini, Gabriele Ferri, Barbara Mazzolai, Alessandro Manzi, Matteo Gabelletti, Paolo Dario, Achim J. Lilienthal

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

25 Scopus citations

Abstract

The EU project DustBot addresses urban hygiene. Two types of robots were designed, the DustClean robot to autonomously clean pedestrian areas, and the DustCart robot for door-to-door garbage collection. Three prototype robots were built and equipped with electronic noses so as to enable them to collect environmental data while performing their urban hygiene tasks. Essentially, the robots act as a mobile, wireless node in a sensor network. In this paper we give an overview of the DustBot platform focusing on the Air Monitoring Module (AMM). We describe the data flow between the robots through the ubiquitous network to a gas distribution modelling server, where a gas distribution model is computed. We describe the Kernel DM+V algorithm, an approach to create statistical gas distribution models in the form of predictive mean and variance discretized onto a grid map. Finally we present and discuss results obtained with the DustBot AMM during experimental trials performed in outdoor public places: a courtyard in Pontedera, Italy and a pedestrian square in Örebro, Sweden.

Original language	English
Title of host publication	NOSE2010 - International Conference on Environmental Odour Monitoring and Control
Publisher	Italian Association of Chemical Engineering - AIDIC
Pages	273-278
Number of pages	6
Volume	23
ISBN (Print)	9788895608143
DOIs	https://doi.org/10.3303/CET1023046
State	Published - 2010
Externally published	Yes

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Reggente, M., Mondini, A., Ferri, G., Mazzolai, B., Manzi, A., Gabelletti, M., Dario, P., & Lilienthal, A. J. (2010). The DustBot system: Using mobile robots to monitor pollution in pedestrian area. In NOSE2010 - International Conference on Environmental Odour Monitoring and Control (Vol. 23, pp. 273-278). Italian Association of Chemical Engineering - AIDIC. https://doi.org/10.3303/CET1023046

@inproceedings{0daac3086b42451d8170ba0369aa3d0c,

title = "The DustBot system: Using mobile robots to monitor pollution in pedestrian area",

abstract = "The EU project DustBot addresses urban hygiene. Two types of robots were designed, the DustClean robot to autonomously clean pedestrian areas, and the DustCart robot for door-to-door garbage collection. Three prototype robots were built and equipped with electronic noses so as to enable them to collect environmental data while performing their urban hygiene tasks. Essentially, the robots act as a mobile, wireless node in a sensor network. In this paper we give an overview of the DustBot platform focusing on the Air Monitoring Module (AMM). We describe the data flow between the robots through the ubiquitous network to a gas distribution modelling server, where a gas distribution model is computed. We describe the Kernel DM+V algorithm, an approach to create statistical gas distribution models in the form of predictive mean and variance discretized onto a grid map. Finally we present and discuss results obtained with the DustBot AMM during experimental trials performed in outdoor public places: a courtyard in Pontedera, Italy and a pedestrian square in {\"O}rebro, Sweden.",

author = "Matteo Reggente and Alessio Mondini and Gabriele Ferri and Barbara Mazzolai and Alessandro Manzi and Matteo Gabelletti and Paolo Dario and Lilienthal, \{Achim J.\}",

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doi = "10.3303/CET1023046",

language = "English",

isbn = "9788895608143",

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Reggente, M, Mondini, A, Ferri, G, Mazzolai, B, Manzi, A, Gabelletti, M, Dario, P & Lilienthal, AJ 2010, The DustBot system: Using mobile robots to monitor pollution in pedestrian area. in NOSE2010 - International Conference on Environmental Odour Monitoring and Control. vol. 23, Italian Association of Chemical Engineering - AIDIC, pp. 273-278. https://doi.org/10.3303/CET1023046

The DustBot system: Using mobile robots to monitor pollution in pedestrian area. / Reggente, Matteo; Mondini, Alessio; Ferri, Gabriele et al.
NOSE2010 - International Conference on Environmental Odour Monitoring and Control. Vol. 23 Italian Association of Chemical Engineering - AIDIC, 2010. p. 273-278.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Mondini, Alessio

AU - Ferri, Gabriele

AU - Mazzolai, Barbara

AU - Manzi, Alessandro

AU - Gabelletti, Matteo

AU - Dario, Paolo

AU - Lilienthal, Achim J.

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N2 - The EU project DustBot addresses urban hygiene. Two types of robots were designed, the DustClean robot to autonomously clean pedestrian areas, and the DustCart robot for door-to-door garbage collection. Three prototype robots were built and equipped with electronic noses so as to enable them to collect environmental data while performing their urban hygiene tasks. Essentially, the robots act as a mobile, wireless node in a sensor network. In this paper we give an overview of the DustBot platform focusing on the Air Monitoring Module (AMM). We describe the data flow between the robots through the ubiquitous network to a gas distribution modelling server, where a gas distribution model is computed. We describe the Kernel DM+V algorithm, an approach to create statistical gas distribution models in the form of predictive mean and variance discretized onto a grid map. Finally we present and discuss results obtained with the DustBot AMM during experimental trials performed in outdoor public places: a courtyard in Pontedera, Italy and a pedestrian square in Örebro, Sweden.

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The DustBot system: Using mobile robots to monitor pollution in pedestrian area

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