Publications by Chiara Ercolani

Gas Sensing with Rotary-Wing Nano Aerial Vehicles

Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives. When gas leaks occur, the ...

EPFL2024

Multi-Robot 3D Gas Distribution Mapping: Coordination, Information Sharing and Environmental Knowledge

Alcherio Martinoli, Chiara Ercolani, Thomas Laurent Peeters

Environmental monitoring and mapping operations are an essential tool to combat climate change. An important branch of this domain concerns the construction of reliable gas maps. Adaptive navigation strategies coupled with multi-robot systems improve the o ...

2023

3D Gas Sensing with Multiple Nano Aerial Vehicles: Interference Analysis, Algorithms and Experimental Validation

Alcherio Martinoli, Chiara Ercolani, Wanting Jin

Within the scope of the ongoing efforts to fight climate change, the application of multirobot systems to environmental mapping and monitoring missions is a prominent approach aimed at increasing exploration efficiency. However, the application of such sys ...

2023

Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots

Alcherio Martinoli, Faezeh Rahbar, Chiara Ercolani

The ability to sense airborne pollutants with mobile robots provides a valuable asset for domains such as industrial safety and environmental monitoring. Oftentimes, this involves detecting how certain gases are spread out in the environment, commonly refe ...

MDPI2023

Towards Efficient Gas Leak Detection in Built Environments: Data-Driven Plume Modeling for Gas Sensing Robots

Alcherio Martinoli, Faezeh Rahbar, Chiara Ercolani, Wanting Jin

The deployment of robots for Gas Source Lo- calization (GSL) tasks in hazardous scenarios significantly reduces the risk to humans and animals. Gas sensing using mobile robots focuses primarily on simplified scenarios, due to the complexity of gas dispersi ...

2023

GaSLAM: An Algorithm for Simultaneous Gas Source Localization and Gas Distribution Mapping in 3D

Alcherio Martinoli, Chiara Ercolani, Lixuan Tang

Chemical gas dispersion poses considerable threat to humans, animals and the environment. The research areas of gas source localization and gas distribution mapping aim to localize the source of gas leaks and map the gas plume respectively, in order to hel ...

2022

Clustering and Informative Path Planning for 3D Gas Distribution Mapping: Algorithms and Performance Evaluation

Alcherio Martinoli, Chiara Ercolani, Ankita Arun Humne, Lixuan Tang

Chemical gas dispersion can represent a severe threat to human and animal lives, as well as to the environment. Constructing a map of the distribution of gas in a fast and reliable manner is critical to ensure accurate monitoring of at-risk facilities and ...

2022

3D Odor Source Localization Using a Micro Aerial Vehicle: System Design and Performance Evaluation

Alcherio Martinoli, Chiara Ercolani

2020