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Model-based Gas Source Localization Strategy for a Cooperative Multi-Robot System - A Probabilistic Approach and Experimental Validation Incorporating Physical Knowledge and Model Uncertainties

Wiedemann, Thomas and Shutin, Dmitriy and Lilienthal, Achim (2019) Model-based Gas Source Localization Strategy for a Cooperative Multi-Robot System - A Probabilistic Approach and Experimental Validation Incorporating Physical Knowledge and Model Uncertainties. Robotics and Autonomous Systems. Elsevier. DOI: 10.1016/j.robot.2019.03.014 ISSN 0921-8890

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Abstract

Sampling gas distributions by robotic platforms in order to find gas sources is an appealing approach to alleviate threats for a human operator. Different sampling strategies for robotic gas exploration exist. In this paper we investigate the benefit that could be obtained by incorporating physical knowledge about the gas dispersion. By exploring a gas diffusion process using a multi-robot system. The physical behavior of the diffusion process is modeled using a Partial Differential Equation (PDE) which is integrated into the exploration strategy. It is assumed that the diffusion process is driven by only a few spatial sources at unknown locations with unknown intensity. The objective of the exploration strategy is to guide the robots to informative measurement locations and by means of concentration measurements estimate the source parameters, in particular, their number, locations and magnitudes. To this end we propose a probabilistic approach towards PDE identification under sparsity constraints using factor graphs and a message passing algorithm. Moreover, message passing schemes permit efficient distributed implementation of the algorithm, which makes it suitable for a multi-robot system. We designed an experimental setup that allows us to evaluate the performance of the exploration strategy in hardware-in-the-loop experiments as well as in experiments with real ethanol gas under laboratory conditions. The results indicate that the proposed exploration approach accelerates the identification of the source parameters and outperforms systematic sampling.

Item URL in elib:https://elib.dlr.de/128058/
Document Type:Article
Title:Model-based Gas Source Localization Strategy for a Cooperative Multi-Robot System - A Probabilistic Approach and Experimental Validation Incorporating Physical Knowledge and Model Uncertainties
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Wiedemann, ThomasThomas.Wiedemann (at) dlr.deUNSPECIFIED
Shutin, DmitriyDmitriy.Shutin (at) dlr.deUNSPECIFIED
Lilienthal, AchimOrebro UniversityUNSPECIFIED
Date:2019
Journal or Publication Title:Robotics and Autonomous Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI :10.1016/j.robot.2019.03.014
Publisher:Elsevier
ISSN:0921-8890
Status:Published
Keywords:Robotic exploration Gas source localization Multi-agent-system Partial differential equation Mobile robot olfaction Sparse Bayesian learning Factor graph Message passing
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 - Vorhaben GNSS2/Neue Dienste und Produkte
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Wiedemann, Thomas
Deposited On:25 Jun 2019 08:46
Last Modified:01 May 2020 03:00

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