Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Journal articles
  4. 3D Gas Sensing with Multiple Nano Aerial Vehicles: Interference Analysis, Algorithms and Experimental Validation
 
research article

3D Gas Sensing with Multiple Nano Aerial Vehicles: Interference Analysis, Algorithms and Experimental Validation

Ercolani, Chiara  
•
Jin, Wanting  
•
Martinoli, Alcherio  
October 17, 2023
Sensors

Within the scope of the ongoing efforts to fight climate change, the application of multirobot systems to environmental mapping and monitoring missions is a prominent approach aimed at increasing exploration efficiency. However, the application of such systems to gas sensing missions has yet to be extensively explored and presents some unique challenges, mainly due to the hard-to-sense and expensive-to-model nature of gas dispersion. For this paper, we explored the application of a multi-robot system composed of rotary-winged nano aerial vehicles to a gas sensing mission. We qualitatively and quantitatively analyzed the interference between different robots and the effect on their sensing performance. We then assessed this effect, by deploying several algorithms for 3D gas sensing with increasing levels of coordination in a state-of-the-art wind tunnel facility. The results show that multi-robot gas sensing missions can be robust against documented interference and degradation in their sensing performance. We additionally highlight the competitiveness of multi-robot strategies in gas source location performance with tight mission time constraints.

  • Files
  • Details
  • Metrics
Type
research article
DOI
10.3390/s23208512
Author(s)
Ercolani, Chiara  
Jin, Wanting  
Martinoli, Alcherio  
Date Issued

2023-10-17

Published in
Sensors
Volume

23

Issue

20

Article Number

8512

Subjects

gas sensing

•

multi-robot systems

•

informative path planning

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
DISAL  
RelationURL/DOI

IsNewVersionOf

https://infoscience.epfl.ch/record/302973
Available on Infoscience
October 17, 2023
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/201616
Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés