Poster: Olfactory Sensing in Turbulent Airflow via Collaborative Robots

Unforeseen gas leaks can swiftly create a highly flammable atmosphere, which will lead to risks of explosions, health hazards, as well as long-term environmental impacts, especially when the gas is toxic. Hence, localizing the gas source as soon as possible remains paramount to executing subsequent mitigation measures, such as shutting off valves and effectively containing or sealing the leaks. Assigning human operators to engage in these laborious activities poses a risk to their health and lives. Deploying autonomous mobile olfactory robots for gas source localization (GSL) presents a solution with great potential, as they can search the environment efficiently without risking human lives. We task gas leakage in a factory with intricate pipelines as an example as shown in fig. 1(a). Here, a fleet of robots equipped with gas concentration sensors [4] and wind sensors are dispatched to search the emission source.