WFRF:(Hernandez Bennetts Victor)
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Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots
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- Arain, Muhammad Asif, 1983- (author)
- 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- (author)
- Örebro universitet,Institutionen för naturvetenskap och teknik,Scania AB, Södertälje, Sweden,Mobile Robotics & Olfaction (MRO) Lab, Center of Applied Autonomous Sensor Systems (AASS)
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- Hernandez Bennetts, Victor, 1978- (author)
- 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)
- Washington, USA : IEEE, 2015
- 2015
- English.
- In: 2015 IEEE International Conference on Robotics and Automation (ICRA). - Washington, USA : IEEE. - 9781479969234 ; , s. 3428-3434
- Conference paper (peer-reviewed)
Abstract
Subject headings
Close
- The problem of gas detection is relevant to manyreal-world applications, such as leak detection in industrialsettings and surveillance. In this paper we address the problemof gas detection in large areas with a mobile robotic platformequipped with a remote gas sensor. We propose a novelmethod based on convex relaxation for quickly finding anexploration plan that guarantees a complete coverage of theenvironment. Our method proves to be highly efficient in termsof computational requirements and to provide nearly-optimalsolutions. We validate our approach both in simulation andin real environments, thus demonstrating its applicability toreal-world problems.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
Keyword
- Sensor planning
- mobile robot olfaction
- remote gas sensing
- Computer Science
- Datavetenskap
Publication and Content Type
- ref (subject category)
- kon (subject category)
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