Sökning: WFRF:(Schaffernicht Erik 1978 ) >
Global coverage mea...
Global coverage measurement planning strategies for mobile robots equipped with a remote gas sensor
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- Arain, Muhammad Asif, 1983- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Mobile Robotics & Olfaction (MRO) Lab, Center of Applied Autonomous Sensor Systems (AASS)
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- Trincavelli, Marco, 1981- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Mobile Robotics & Olfaction (MRO) Lab, Center of Applied Autonomous Sensor Systems (AASS)
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- Cirillo, Marcello, 1978- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Mobile Robotics & Olfaction (MRO) Lab, Center of Applied Autonomous Sensor Systems (AASS)
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- Schaffernicht, Erik, 1980- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Mobile Robotics & Olfaction (MRO) Lab, Center of Applied Autonomous Sensor Systems (AASS)
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- Lilienthal, Achim J., 1970- (författare)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Mobile Robotics & Olfaction (MRO) Lab, Center of Applied Autonomous Sensor Systems (AASS)
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(creator_code:org_t)
- 2015-03-20
- 2015
- Engelska.
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Ingår i: Sensors. - Basel, Switzerland : MDPI. - 1424-8220. ; 15:3, s. 6845-6871
- Relaterad länk:
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https://doi.org/10.3...
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https://oru.diva-por... (primary) (Raw object)
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https://www.mdpi.com...
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https://urn.kb.se/re...
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https://doi.org/10.3...
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Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Nyckelord
- Coverage planning
- Mobile robot olfaction
- Remote gas detection
- Sensor planning
- Surveillance robots
- Computer Science
- Datavetenskap
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
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