A mobile robot agent for gas leak source detection

Martínez Lacasa, Daniel; Pallejà Cabrè, Tomàs; Moreno Blanc, Javier; Tresánchez Ribes, Marcel; Teixidó Cairol, Mercè; Font Calafell, Davinia; Pardo, Antonio; Marco, Santiago; Palacín Roca, Jordi

doi:https://doi.org/10.1007/978-3-319-07476-4_3

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Issue date

2014

Author

Martínez Lacasa, Daniel

Pallejà Cabrè, Tomàs

Moreno Blanc, Javier

Tresánchez Ribes, Marcel

Teixidó Cairol, Mercè

Font Calafell, Davinia

Pardo, Antonio

Marco, Santiago

Palacín Roca, Jordi

Suggested citation

Martínez Lacasa, Daniel; Pallejà Cabrè, Tomàs; Moreno Blanc, Javier; Tresánchez Ribes, Marcel; Teixidó Cairol, Mercè; Font Calafell, Davinia; ... Palacín Roca, Jordi. (2014) . A mobile robot agent for gas leak source detection. Advances in Intelligent Systems and Computing, 2014, vol. 293, p. 19-25. https://doi.org/10.1007/978-3-319-07476-4_3.

Abstract

This paper presents an autonomous agent for gas leak source detec-tion. The main objective of the robot is to estimate the localization of the gas leak source in an indoor environment without any human intervention. The agent implements an SLAM procedure to scan and map the indoor area. The mobile robot

samples gas concentrations with a gas and a wind sensor in order to estimate the source of the gas leak. The mobile robot agent will use the in-formation obtained from the onboard sensors in order to define an efficient scanning path. This paper describes the measurement results obtained in a long corridor with a gas leak source placed close to a wall.

Note

Trends in Practical Applications of Heterogeneous Multi-Agent Systems. The PAAMS Collection.

URI

http://hdl.handle.net/10459.1/62842

DOI

https://doi.org/10.1007/978-3-319-07476-4_3

Is part of

Advances in Intelligent Systems and Computing, 2014, vol. 293, p. 19-25