2026-05-31T18:48:13Zhttps://riuma.uma.es/rest/oai/request

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

A Feasibility Study of a Leader-Follower Multi-Robot Formation for TDLAS Assisted Methane Detection in Open Spaces. González-Monroy, Javier Ojeda Morala, José González-Jiménez, Antonio Javier Metano Detectores de gases Robots autónomos Gases - Análisis 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. 2023-12-05T06:58:33Z 2023-12-05T06:58:33Z 2023-12-05T06:58:33Z 2023 conference output https://hdl.handle.net/10630/28210 eng Iberian Robotics Conference (ROBOT2023) Coimbra, Portugal 22 noviembre 2023 open access