Active Sensing Strategy: Multi‐Modal, Multi‐Robot Source Localization and Mapping in Real‐World Settings With Fixed One‐Way Switching
Vu Phi Tran,
Asanka G. Perera,
Matthew A. Garratt
et al.
Abstract:This paper introduces a state‐machine model designed for a multi‐modal, multi‐robot environmental sensing algorithm tailored to dynamic real‐world settings. The multi‐modal algorithm uniquely combines two distinct exploration strategies for gas source localization and mapping tasks: (1) an initial exploration phase using multi‐robot coverage path planning with variable formations, providing early gas field indication; and (2) a subsequent active sensing phase employing multi‐robot swarms for precise field esti… Show more
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