Muhammad Asif Arain, Marcello Cirillo, Victor Hernandez Bennetts, Erik Schaffernicht, Marco Trincavelli, and Achim J. Lilienthal
Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 26-30, 2015, Seattle, Washington, USA.
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.
Keywords: remote gas detection; mobile robot olfaction; sensor planning; coverage planning; surveillance robots
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@INPROCEEDINGS{Arain_etal:ICRA:2015,
  AUTHOR = {Arain, Muhammad Asif and Cirillo, Marcello and Hernandez Bennetts, Victor and Schaffernicht, Erik and Trincavelli, Marco and Lilienthal, Achim J.},
  TITLE = {Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots},
  BOOKTITLE = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)},
  YEAR = {2015},
  DATE = {May 26-30},
  ADRESS = {Seattle, WA, USA},
  PAGES = {3428-3434},
  DOI = {10.1109/ICRA.2015.7139673},
  URL = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7139673&queryText=efficient+measurement+planning&newsearch=true&searchField=Search_All}
}