Physics-assisted multi-robot exploration of spatio-temporal dispersal phenomena, Dmitriy Shutin
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The problem of exploring a dispersal of a potentially hazardous or toxic material in air using robots has a number of applications for e.g., environmental monitoring, infrastructure inspection, or civil protection, to name only a few. Especially in situations when explored substances pose a health risk to human operators, autonomous solutions are of a great interest. However, the key challenge that arises on a path towards autonomy in this context is a rather complicated dynamics of the dispersed material, coupled with specifics of spatial aperture and low temporal resolution of olfactory (chemical) sensors used for perception.
While the former precludes tele-operation (or makes it rather challenging), the latter requires perception and autonomy schemes that are able to cope with very low information rate acquired through olfactory sensing.