Multi robot trajectory generation for single source explosion parameter estimation

Vassilios N. Christopoulos, Stergios Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Scopus citations

Abstract

This paper addresses the problem of estimating the parameters of the advection-diffusion equation, which describes the propagation of an instantaneously released gas. A team of mobile robots, equipped with appropriate sensing devices, are used for collecting gas concentration measurements. In addition, each of the robots has sensitive anemometric vanes for determining the velocity and the direction of the wind. The selection of the sequence of locations, where the robot should go to collect the gas concentration measurements, is performed in real-time and is based on the minimization of the uncertainty of the estimated parameters and on reducing the time to convergence of this estimation problem. Simulation results are presented in order to confirm the described approach, which has significantly lower computational requirements than other well-known techniques based on exhaustive global search.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages2803-2809
Number of pages7
DOIs
StatePublished - 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
Country/TerritorySpain
CityBarcelona
Period4/18/054/22/05

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