Related papers: A Next-Best-Smell Approach for Remote Gas Detectio…
Approximate nearest neighbor search (ANNS) constitutes an important operation in a multitude of applications, including recommendation systems, information retrieval, and pattern recognition. In the past decade, graph-based ANNS algorithms…
Air pollution is a major concern in large urban areas. Various studies have been made to monitor and control the pollution level emitted by the vehicles but some main factors like ease of implementation or feasibility of the proposed…
We consider the problem of mass transport cloaking using mobile robots. The robots move along a predefined curve that encloses a safe zone and carry sources that collectively counteract a chemical agent released in the environment. The goal…
Robots are increasingly used in tomato greenhouses to automate labour-intensive tasks such as selective harvesting and de-leafing. To perform these tasks, robots must be able to accurately and efficiently perceive the plant nodes that need…
Estimating the distance of a gas source is important in many applications of chemical sensing, like e.g. environmental monitoring, or chemically-guided robot navigation. If an estimation of the gas concentration at the source is available,…
Drive-by sensing is gaining popularity as an inexpensive way to perform fine-grained, city-scale, spatiotemporal monitoring of physical phenomena. Prior work explores several challenges in the design of low-cost sensors, the reliability of…
Effective communication is crucial for deploying robots in mission-specific tasks, but inadequate or unreliable communication can greatly reduce mission efficacy, for example in search and rescue missions where communication-denied…
This paper introduces a new mobile sensor scheduling problem, involving a single robot tasked with monitoring several events of interest that occur at different locations. Of particular interest is the monitoring of transient events that…
Mobile and ubiquitous sensing of urban air quality has received increased attention as an economically and operationally viable means to survey atmospheric environment with high spatial-temporal resolution. This paper proposes a machine…
When a large collection of objects (e.g., robots, sensors, etc.) has to be deployed in a given environment, it is often required to plan a coordinated motion of the objects from their initial position to a final configuration enjoying some…
Language-guided active sensing is a robotics subtask where a robot with an onboard sensor interacts efficiently with the environment via object manipulation to maximize perceptual information, following given language instructions. These…
The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…
People are increasingly concerned with understanding their personal environment, including possible exposure to harmful air pollutants. In order to make informed decisions on their day-to-day activities, they are interested in real-time…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…
In appearance-based localization and mapping, loop closure detection is the process used to determinate if the current observation comes from a previously visited location or a new one. As the size of the internal map increases, so does the…
Open-path Tunable Diode Laser Absorption Spectroscopy offers an effective method for measuring, mapping, and monitoring gas concentrations, such as leaking CO2 or methane. Compared to spatial sampling of gas distributions using in-situ…
Time-varying coverage, namely sweep coverage is a recent development in the area of wireless sensor networks, where a small number of mobile sensors sweep or monitor comparatively large number of locations periodically. In this article we…
This paper considers the problem of planning trajectories for a team of sensor-equipped robots to reduce uncertainty about a dynamical process. Optimizing the trade-off between information gain and energy cost (e.g., control effort,…
Mobile sensor networks are important for several strategic applications devoted to monitoring critical areas. In such hostile scenarios, sensors cannot be deployed manually and are either sent from a safe location or dropped from an…
This paper develops a decentralized approach to mobile sensor coverage by a multi-robot system. We consider a scenario where a team of robots with limited sensing range must position itself to effectively detect events of interest in a…