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- Ferri, Gabriele, et al.
(author)
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DustCart, a Mobile Robot for Urban Environments : Experiments of Pollution Monitoring and Mapping during Autonomous Navigation in Urban Scenarios
- 2010
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In: Proceedings of ICRA Workshop on Networked and Mobile Robot Olfaction in Natural, Dynamic Environments.
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Conference paper (peer-reviewed)abstract
- In the framework of DustBot European project, aimed at developing a new multi-robot system for urban hygiene management, we have developed a twowheeled robot: DustCart. DustCart aims at providing a solution to door-to-door garbage collection: the robot, called by a user, navigates autonomously to his/her house; collects the garbage from the user and discharges it in an apposite area. An additional feature of DustCart is the capability to monitor the air pollution by means of an on board Air Monitoring Module (AMM). The AMM integrates sensors to monitor several atmospheric pollutants, such as carbon monoxide (CO), particular matter (PM10), nitrogen dioxide (NO2), ozone (O3) plus temperature (T) and relative humidity (rHu). An Ambient Intelligence platform (AmI) manages the robots’ operations through a wireless connection. AmI is able to collect measurements taken by different robots and to process them to create a pollution distribution map. In this paper we describe the DustCart robot system, focusing on the AMM and on the process of creating the pollutant distribution maps. We report results of experiments of one DustCart robot moving in urban scenarios and producing gas distribution maps using the Kernel DM+V algorithm. These experiments can be considered as one of the first attempts to use robots as mobile monitoring devices that can complement the traditional fixed stations.
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| 2. |
- Reggente, Matteo, 1973-, et al.
(author)
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The DustBot System : Using Mobile Robots to Monitor Pollution in Pedestrian Area
- 2010
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In: Chemical Engineering Transactions. - : AIDIC Servizi. - 1974-9791 .- 2283-9216. - 9788895608143 ; 23, s. 273-278
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Journal article (peer-reviewed)abstract
- The EU project DustBot addresses urban hydeience. 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, wirless node in a sensor network. In this paper we give an overview of the DusBot platform focusig on the Air Monitoring Module (AMM). We descibe the data flow between the robots throught the ubiquitous network to a gas distribution modelling server, where a gas deisribution model is computed. We descibe the Kernel DM+V algorithn, an approach to create statistical gas disdtribution models in the form of predictive mean and variance discrtized onto a grid map. Finally we present and discuss results obtained with the DustBot AMM during experimental trails performex in outdoor public places; a courtyard in Pontedera, Italy and a pedestrian square in Örebro, Sweden.
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