title: Global coverage measurement planning strategies for mobile robots equipped with a remote gas sensor.
abstract: 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.
authors: Mobile Robotics & Olfaction Lab, Center of Applied Autonomous Sensor Systems (AASS), School of Science & Technology, Örebro University, Örebro SE-70182, Sweden. asif.arain@oru.se.
authors: Muhammad Asif
authors: MA
authors: Arain
authors: Mobile Robotics & Olfaction Lab, Center of Applied Autonomous Sensor Systems (AASS), School of Science & Technology, Örebro University, Örebro SE-70182, Sweden. marco.trincavelli@oru.se.
authors: Marco
authors: M
authors: Trincavelli
authors: Mobile Robotics & Olfaction Lab, Center of Applied Autonomous Sensor Systems (AASS), School of Science & Technology, Örebro University, Örebro SE-70182, Sweden. marcello.cirillo@oru.se.
authors: Marcello
authors: M
authors: Cirillo
authors: Mobile Robotics & Olfaction Lab, Center of Applied Autonomous Sensor Systems (AASS), School of Science & Technology, Örebro University, Örebro SE-70182, Sweden. erik.schaffernicht@oru.se.
authors: Erik
authors: E
authors: Schaffernicht
authors: Mobile Robotics & Olfaction Lab, Center of Applied Autonomous Sensor Systems (AASS), School of Science & Technology, Örebro University, Örebro SE-70182, Sweden. achim.lilienthal@oru.se.
authors: Achim J
authors: AJ
authors: Lilienthal