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Probabilistic Modeling of Gas Diffusion with Partial Differential Equations for Multi-Robot Exploration and Gas Source Localization

Wiedemann, Thomas and Manss, Christoph and Shutin, Dmitriy and Lilienthal, Achim and Karolj, Valentina and Viseras Ruiz, Alberto (2017) Probabilistic Modeling of Gas Diffusion with Partial Differential Equations for Multi-Robot Exploration and Gas Source Localization. In: 2017 European Conference on Mobile Robots (ECMR 2017). ECMR 2017, 6-8 Sep. 2017, Paris, Frankreich.

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Abstract

Employing automated robots for sampling gas distributions and for localizing gas sources is beneficial since it avoids hazards for a human operator. This paper addresses the problem of exploring a gas diffusion process using a multi-agent system consisting of several mobile sensing robots. The diffusion process is modeled using a partial differential equation (PDE). It is assumed that the diffusion process is driven by only a few spatial sources at unknown locations with unknown intensity. The goal of the multi-robot exploration is thus to identify source parameters, in particular, their number, locations and magnitudes. Therefore, this paper develops a probabilistic approach towards PDE identification under sparsity constraint using factor graphs and a message passing algorithm. Moreover, the message passing schemes permits efficient distributed implementation of the algorithm. This brings significant advantages with respect to scalability, computational complexity and robustness of the proposed exploration algorithm. Based on the derived probabilistic model, an exploration strategy to guide the mobile agents in real time to more informative sampling locations is proposed. Hardware-in-the-loop experiments with real mobile robots show that the proposed exploration approach accelerates the identification of the source parameters and outperforms systematic sampling.

Item URL in elib:https://elib.dlr.de/113329/
Document Type:Conference or Workshop Item (Speech)
Title:Probabilistic Modeling of Gas Diffusion with Partial Differential Equations for Multi-Robot Exploration and Gas Source Localization
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wiedemann, ThomasThomas.Wiedemann (at) dlr.deUNSPECIFIED
Manss, Christophchistoph.manss (at) dlr.deUNSPECIFIED
Shutin, DmitriyDmitriy.Shutin (at) dlr.deUNSPECIFIED
Lilienthal, Achimorebro universityUNSPECIFIED
Karolj, Valentinavalentina.karolj (at) dlr.deUNSPECIFIED
Viseras Ruiz, AlbertoAlberto.ViserasRuiz (at) dlr.deUNSPECIFIED
Date:2017
Journal or Publication Title:2017 European Conference on Mobile Robots (ECMR 2017)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:multi-agent exploration, gas source localization, mobile robot olfaction partial differential equation, factor graph, sparse Bayesian learning, message passing
Event Title:ECMR 2017
Event Location:Paris, Frankreich
Event Type:international Conference
Event Dates:6-8 Sep. 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Project Navigation 4.0
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Wiedemann, Thomas
Deposited On:28 Nov 2017 13:33
Last Modified:17 Jul 2018 14:17

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