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Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots.

Sensors (Basel, Switzerland)·2023
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3D Gas Sensing with Multiple Nano Aerial Vehicles: Interference Analysis, Algorithms and Experimental Validation.

Chiara Ercolani1, Wanting Jin1, Alcherio Martinoli1

  • 1Distributed Intelligent Systems and Algorithms Laboratory, School of Architecture, Civil and Environmental Engineering, École Polytechnique Fédérale de Lausanne (EPFL), 1015 Lausanne, Switzerland.

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|October 28, 2023
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Multi-robot systems using nano aerial vehicles show robust gas sensing performance despite interference. These systems are competitive for efficient gas source location, even under tight time constraints.

Keywords:
gas sensinginformative path planningmulti-robot systems

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Area of Science:

  • Robotics
  • Environmental Science
  • Sensor Technology

Background:

  • Multi-robot systems enhance environmental mapping and monitoring efficiency.
  • Gas sensing missions with multi-robot systems face challenges due to gas dispersion complexity.
  • Previous research has not extensively explored multi-robot gas sensing applications.

Purpose of the Study:

  • To investigate the application of multi-robot systems for gas sensing.
  • To analyze robot interference and its impact on sensing performance.
  • To evaluate multi-robot strategies for gas source location.

Main Methods:

  • Utilized a multi-robot system of rotary-winged nano aerial vehicles.
  • Conducted qualitative and quantitative analysis of inter-robot interference.
  • Deployed 3D gas sensing algorithms with varying coordination levels in a wind tunnel.

Main Results:

  • Multi-robot gas sensing missions demonstrated robustness against interference and performance degradation.
  • Interference between robots did not significantly compromise sensing capabilities.
  • Multi-robot strategies proved competitive for gas source location under time constraints.

Conclusions:

  • Multi-robot systems are viable for challenging gas sensing missions.
  • Effective coordination strategies can mitigate interference issues.
  • These systems offer efficient solutions for environmental monitoring and gas source identification.