Efficient measurement planning for remote gas sensing with mobile robots
Muhammad Asif Arain, Marcello Cirillo, Victor Hernandez Bennetts, Erik Schaffernicht, Marco Trincavelli, Achim J. Lilienthal
Abstract
The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and surveillance. 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 a novel method based on convex relaxation for quickly finding an exploration plan that guarantees a complete coverage of the environment. Our method proves to be highly efficient in terms of computational requirements and to provide nearly-optimal solutions. We validate our approach both in simulation and in real environments, thus demonstrating its applicability to real-world problems.
BibTeX
@inproceedings{icra2015_efficientmeasure,
title = {Efficient measurement planning for remote gas sensing with mobile robots},
author = {Muhammad Asif Arain and Marcello Cirillo and Victor Hernandez Bennetts and Erik Schaffernicht and Marco Trincavelli and Achim J. Lilienthal},
booktitle = {ICRA 2015},
year = {2015}
}