RT Conference Proceedings
T1 A Feasibility Study of a Leader-Follower Multi-Robot Formation for TDLAS Assisted Methane Detection in Open Spaces.
A1 González-Monroy, Javier
A1 Ojeda Morala, José
A1 González-Jiménez, Antonio Javier
K1 Metano
K1 Detectores de gases
K1 Robots autónomos
K1 Gases - Análisis
AB This work deals with the problem of detecting and localizing methane emission sources in open spaces with a mobile robot equipped with a remote gas detector (TDLAS). To reduce the long inspection time of traditional approaches which use the ground as the natural reflector, in this work, we analyze the feasibility of a leader-follower formation, where one robot, the leader, carries the remote gas detector that scans horizontally, parallel to the ground, and a second robot, the follower, that acts as an artificial reflector. We present a visual tracking mechanism for the relative pose estimation of both mobile platforms to extend the measurement range up to 10 m. Results in a 70 m2 experimental area demonstrate that this approach is effective for a fast location of methane gas sources.
YR 2023
FD 2023
LK https://hdl.handle.net/10630/28210
UL https://hdl.handle.net/10630/28210
LA eng
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026