In situations where toxic or dangerous airborne material is leaking, mobile robots equipped with gas sensors are a safe alternative to human reconnaissance. This work presents the Domain Knowledge Assisted Robotic Exploration and Source Localization (DARES) approach. It allows a multi-robot system to localize multiple sources or leaks autonomously and independently of a human operator. The probabilistic approach builds upon domain knowledge in the form of a physical model of gas dispersion and the a priori assumption that the dispersion process is driven by multiple but sparsely distributed sources. A formal criterion is used to guide the robots to informative measurement locations and enables inference of the source distribution based on gas concentration measurements. Small-scale indoor experiments under controlled conditions are presented to validate the approach. In all three experiments, three rovers successfully localized two ethanol sources.
Experimental Validation of Domain Knowledge Assisted Robotic Exploration and Source Localization
2021-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
Domain Knowledge Assisted Robotic Exploration and Source Localization
Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2020
|BASE | 2018
|NTRS | 2006
|Online Contents | 1994