Muhammad Asif Arain, Marco Trincavelli, Marcello Cirillo, Erik Schaffernicht and Achim J. Lilienthal
Global Coverage Measurement Planning Strategies for Mobile Robots Equipped with a Remote Gas Sensor
Sensors MDPI, 2015.
Abstract: The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. 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 an algorithm that leverages a novel method based on convex relaxation for quickly solving sensor placement problems, and for generating an efficient exploration plan for the robot. To demonstrate the applicability of our method to real-world environments, we performed a large number of experimental trials, both on randomly generated maps and on the map of a real environment. Our approach proves to be highly efficient in terms of computational requirements and to provide nearly-optimal solutions.
Keywords: remote gas detection; mobile robot olfaction; sensor planning; coverage planning; surveillance robots
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Paper: [Open Access Journal]
@ARTICLE{Arain_etal:Sensors:2015,
  AUTHOR = {Arain, Muhammad Asif and Trincavelli, Marco and Cirillo, Marcello and Schaffernicht, Erik and Lilienthal, Achim J.},
  TITLE = {Global Coverage Measurement Planning Strategies for Mobile Robots Equipped with a Remote Gas Sensor},
  JOURNAL = {Sensors},
  YEAR = {2015},
  VOLUME = {15},
  NUMBER = {3},
  PAGES = {6845--6871},
  DOI = {doi:10.3390/s150306845},
  URL = {http://www.mdpi.com/1424-8220/15/3/6845}
}