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Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots
| Content Provider | CiteSeerX |
|---|---|
| Author | Arain, Muhammad Asif Cirillo, Marcello Hern, Victor Bennetts, Ez Schaffernicht, Erik Trincavelli, Marco Lilienthal, Achim J. |
| Abstract | 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. I. |
| File Format | |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
