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A mobile robot agent for gas leak source detection

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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.
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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
European research projects
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  • Articles publicats (Informàtica i Enginyeria Industrial) [935]
  • Grup de Recerca en Robòtica i Processament de Senyal (INSPIRES) [25]

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