Victor Hernandez Bennetts, Achim J. Lilienthal, Ali Abdul Khaliq, Victor Pomareda Sesť and Marco Trincavelli
Gasbot: A mobile robotic platform for methane leak detection and emission monitoring
Workshop on Robotics for Environmental Monitoring, October 7, 2012, Vilamoura, Algarve, Portugal.
Abstract: Due to its environmental, economical and safety implications, methane leak detection is a crucial task to address in the biogas production industry. In this paper, we introduce Gasbot, a robotic platform that aims to automatize methane emission monitoring in landfills and biogas production sites. The distinctive characteristic of the Gasbot platform is the use of a Tunable Laser Absorption Spectroscopy (TDLAS) sensor, along with a novel gas distribution algorithm to generate methane concentration maps of indoor and outdoor exploration areas. The Gasbot platform has been tested in two different scenarios: an underground corridor, where a pipeline leak was simulated and in a decommissioned landfill site, where an artificial methane emission source was introduced.
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@INPROCEEDINGS{Hernandez_etal:IROS12_WREM:2012,
  AUTHOR = {Hernandez Bennetts, Victor and Lilienthal, Achim and Khaliq, Ali Abdul and Pomareda Sesť, Victor and Trincavelli, Marco},
  TITLE = {Gasbot: A mobile robotic platform for methane leak detection and emission monitoring},
  BOOLTITLE = {IROS Workshop on Robotics for Environmental Monitoring, 2012},
  VOLUME = {},
  YEAR = {2012},
  DATE = {October 7},
  ADRESS = {Vilamoura, Algarve, Portugal},
  PAGES = {to appear}
  DOI = {}
}