Next Article in Journal
A CMOS Pressure Sensor Tag Chip for Passive Wireless Applications
Previous Article in Journal
Open Hardware: A Role to Play in Wireless Sensor Networks?
Article Menu

Export Article

Open AccessArticle
Sensors 2015, 15(3), 6845-6871; doi:10.3390/s150306845

Global Coverage Measurement Planning Strategies for Mobile Robots Equipped with a Remote Gas Sensor

Mobile Robotics & Olfaction Lab, Center of Applied Autonomous Sensor Systems (AASS), School of Science & Technology, Örebro University, Örebro SE-70182, Sweden
*
Author to whom correspondence should be addressed.
Academic Editor: Markus W. Sigrist
Received: 24 November 2014 / Revised: 13 February 2015 / Accepted: 25 February 2015 / Published: 20 March 2015
(This article belongs to the Section Physical Sensors)
View Full-Text   |   Download PDF [7652 KB, uploaded 23 March 2015]   |  

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. View Full-Text
Keywords: remote gas detection; mobile robot olfaction; sensor planning; coverage planning; surveillance robots remote gas detection; mobile robot olfaction; sensor planning; coverage planning; surveillance robots
Figures

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

Arain, M.A.; Trincavelli, M.; Cirillo, M.; Schaffernicht, E.; Lilienthal, A.J. Global Coverage Measurement Planning Strategies for Mobile Robots Equipped with a Remote Gas Sensor. Sensors 2015, 15, 6845-6871.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top