TY - CONF A1 - Neumann, Patrick P. A1 - Kohlhoff, Harald A1 - Hüllmann, Dino A1 - Lilienthal, A.J. A1 - Kluge, Martin T1 - Bringing Mobile Robot Olfaction to the Next Dimension – UAV-based Remote Sensing of Gas Clouds and Source Localization T2 - Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA) N2 - This paper introduces a novel robotic platform for aerial remote gas sensing. Spectroscopic measurement methods for remote sensing of selected gases lend themselves for use on mini-copters, which offer a number of advantages for inspection and surveillance. No direct contact with the target gas is needed and thus the influence of the aerial platform on the measured gas plume can be kept to a minimum. This allows to overcome one of the major issues with gas-sensitive mini-copters. On the other hand, remote gas sensors, most prominently Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensors have been too bulky given the payload and energy restrictions of mini-copters. Here, we introduce and present the Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), which combines a novel lightweight TDLAS sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile hexacopter. The proposed system can be deployed in scenarios that cannot be addressed by currently available robots and thus constitutes a significant step forward for the field of Mobile Robot Olfaction (MRO). It enables tomographic reconstruction of gas plumes and a localization of gas sources. We also present first results showing the gas sensing and aiming capabilities under realistic conditions. PB - IEEE T2 - IEEE International Conference on Robotics and Automation (ICRA) CY - Singapore DA - 29.05.2017 KW - Tunable Diode Laser Absorption Spectroscopy (TDLAS) KW - 3-axis gimbal KW - Mobile Robot Olfaction KW - Tomographic reconstruction of gas plumes KW - Localization of gas sources KW - Aerial platform PY - 2017 UR - https://opus4.kobv.de/opus4-bam/frontdoor/index/index/docId/40545 AN - OPUS4-40545 SN - 978-1-5090-4632-4 SP - 3910 EP - 3916 AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany