@inproceedings{2012-fsr,
  abstract = {Detection and localization of escaped hazardous gases is of great
	industrial and public interest in order to prevent harm to humans,
	nature and assets or just to prevent financial losses. The development
	of novel leak-detection technologies will yield better coverage of
	inspected objects while helping to lower plant operation costs at
	the same time. Moreover, inspection personnel can be relieved from
	repetitive work and focus on value-adding supervisory control and
	optimization tasks. The proposed system consists of autonomous mobile
	inspection robots that are equipped with several remote gas sensing
	devices and local intelligence. Chain-driven all-terrain robots are
	used that can handle slopes, unpaved routes and offer maneuverability
	in restricted spaces as required for inspecting plants such as petroleum
	refineries, tank farms or chemical sites. The robots can detect and
	locate gas leaks autonomously to a great extent using infrared optical
	spectroscopic and thermal remote sensing techniques and data processing.
	This article gives an overview of the components of the robotic system
	prototype, i.e. the robotic platform and the remote sensing and evaluation
	module. The software architecture, including the robot middleware
	and the measurement routines, are described. Results from testing
	autonomous mobility and object inspection functions in a large test
	course are presented.},
  address = {Matsushima, Japan},
  author = {Soldan, Samuel and Welle, Jochen and Barz, Thomas and Kroll, Andreas and Schulz, Dirk},
  booktitle = {Field and Service Robotics Results of the 8th International Conference},
  comment = {Konferenz: http://www.astro.mech.tohoku.ac.jp/FSR2011/},
  doi = {10.1007/978-3-642-40686-7_16},
  editor = {Yoshida, Kazuya and Tadokoro, Satoshi},
  interhash = {4fdde46f2e5d9ce1dcf7d152191c6092},
  intrahash = {3d0f2e368a44e52e3dbb712922af6432},
  isbn = {978-3-642-40685-0},
  month = {16 - 19 July},
  mrtnote = {robogas, peer, thermo_fusion},
  owner = {soldan},
  pages = {233-247},
  publisher = {Springer Berlin Heidelberg},
  series = {Springer Tracts in Advanced Robotics},
  title = {Towards Autonomous Robotic Systems for Remote Gas Leak Detection
	and Localization in Industrial Environments},
  url = {http://link.springer.com/chapter/10.1007/978-3-642-40686-7_16},
  volume = 92,
  year = 2012
}