2026-05-30T05:04:11Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/282102026-02-03T12:00:09Zcom_10630_2254col_10630_37959

00925njm 22002777a 4500 dc González-Monroy, Javier author Ojeda Morala, José author González-Jiménez, Antonio Javier author 2023 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. https://hdl.handle.net/10630/28210 Metano Detectores de gases Robots autónomos Gases - Análisis A Feasibility Study of a Leader-Follower Multi-Robot Formation for TDLAS Assisted Methane Detection in Open Spaces.