TY - GEN
T1 - Multi robot trajectory generation for single source explosion parameter estimation
AU - Christopoulos, Vassilios N.
AU - Roumeliotis, Stergios
N1 - Copyright:
Copyright 2011 Elsevier B.V., All rights reserved.
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
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U2 - 10.1109/ROBOT.2005.1570538
DO - 10.1109/ROBOT.2005.1570538
M3 - Conference contribution
AN - SCOPUS:33846173029
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2803
EP - 2809
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -