SniffySquad: Patchiness-Aware Gas Source Localization with Multi-Robot Collaboration
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arXiv
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| Main Authors: | , , , , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866912241182310400 |
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| author | Cheng, Yuhan Chen, Xuecheng Yang, Yixuan Wang, Haoyang Xu, Jingao Hong, Chaopeng Zhang, Xiao-Ping Liu, Yunhao Chen, Xinlei |
| author_facet | Cheng, Yuhan Chen, Xuecheng Yang, Yixuan Wang, Haoyang Xu, Jingao Hong, Chaopeng Zhang, Xiao-Ping Liu, Yunhao Chen, Xinlei |
| contents | Gas source localization is pivotal for the rapid mitigation of gas leakage disasters, where mobile robots emerge as a promising solution. However, existing methods predominantly schedule robots' movements based on reactive stimuli or simplified gas plume models. These approaches typically excel in idealized, simulated environments but fall short in real-world gas environments characterized by their patchy distribution. In this work, we introduce SniffySquad, a multi-robot olfaction-based system designed to address the inherent patchiness in gas source localization. SniffySquad incorporates a patchiness-aware active sensing approach that enhances the quality of data collection and estimation. Moreover, it features an innovative collaborative role adaptation strategy to boost the efficiency of source-seeking endeavors. Extensive evaluations demonstrate that our system achieves an increase in the success rate by $20\%+$ and an improvement in path efficiency by $30\%+$, outperforming state-of-the-art gas source localization solutions. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2411_06121 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | SniffySquad: Patchiness-Aware Gas Source Localization with Multi-Robot Collaboration Cheng, Yuhan Chen, Xuecheng Yang, Yixuan Wang, Haoyang Xu, Jingao Hong, Chaopeng Zhang, Xiao-Ping Liu, Yunhao Chen, Xinlei Robotics Multiagent Systems Gas source localization is pivotal for the rapid mitigation of gas leakage disasters, where mobile robots emerge as a promising solution. However, existing methods predominantly schedule robots' movements based on reactive stimuli or simplified gas plume models. These approaches typically excel in idealized, simulated environments but fall short in real-world gas environments characterized by their patchy distribution. In this work, we introduce SniffySquad, a multi-robot olfaction-based system designed to address the inherent patchiness in gas source localization. SniffySquad incorporates a patchiness-aware active sensing approach that enhances the quality of data collection and estimation. Moreover, it features an innovative collaborative role adaptation strategy to boost the efficiency of source-seeking endeavors. Extensive evaluations demonstrate that our system achieves an increase in the success rate by $20\%+$ and an improvement in path efficiency by $30\%+$, outperforming state-of-the-art gas source localization solutions. |
| title | SniffySquad: Patchiness-Aware Gas Source Localization with Multi-Robot Collaboration |
| topic | Robotics Multiagent Systems |
| url | https://arxiv.org/abs/2411.06121 |