Multi-robot Exploration for Environmental Monitoring

Multi-robot Exploration for Environmental Monitoring

The Resource Constrained Perspective

1st Edition - November 29, 2019

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  • Authors: Kshitij Tiwari, Nak Young Chong
  • eBook ISBN: 9780128176085
  • Paperback ISBN: 9780128176078

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Multi-robot Exploration for Environmental Monitoring: The Resource Constrained Perspective provides readers with the necessary robotics and mathematical tools required to realize the correct architecture. The architecture discussed in the book is not confined to environment monitoring, but can also be extended to search-and-rescue, border patrolling, crowd management and related applications. Several law enforcement agencies have already started to deploy UAVs, but instead of using teleoperated UAVs this book proposes methods to fully automate surveillance missions. Similarly, several government agencies like the US-EPA can benefit from this book by automating the process. Several challenges when deploying such models in real missions are addressed and solved, thus laying stepping stones towards realizing the architecture proposed. This book will be a great resource for graduate students in Computer Science, Computer Engineering, Robotics, Machine Learning and Mechatronics.

Key Features

  • Analyzes the constant conflict between machine learning models and robot resources
  • Presents a novel range estimation framework tested on real robots (custom built and commercially available)


Graduate students in Computer Engineering, Robotics, Machine Learning, Mechatronics and Computer Science courses who intend to test their machine learning models on real robot hardware capable of full on-board processing. Ph.D. students, post-doctoral researchers etc., who intend to develop and optimize state-of-the-art machine learning models to guarantee real-time performance on robotic platforms. Government agencies like EPA and other associated bodies who want to monitor and control pollutants and hazardous materials

Table of Contents

  • Part-I: The Curtain Raiser
    1. Introduction
    2. Target Environment
    3. Utilizing Robots
    4. Simultaneuous Localization and Mapping (SLAM)

    Part-II: The Essentials
    5. Preliminaries
    6. Gaussian Process
    7. Coverage Path Planning
    8. Informative Path Planning

    Part-III: Mission Characterization
    9. Problem Formulation
    10. Endurance and Energy Estimation
    11. Range Estimation

    Part-IV: Scaling to Multiple Robots
    12. Multi-robot Systems
    13. Fusion

    Part-V: Continuous Spatiotemporal Dynamics
    14. Temporal Evolutions

    Part-VI: Epilogue
    15. Algal Bloom Monitoring
    16. Cumulus Cloud Monitoring
    17. Search and Rescue
    18. Signal strength based localization
    19. Conclusion

Product details

  • No. of pages: 276
  • Language: English
  • Copyright: © Academic Press 2019
  • Published: November 29, 2019
  • Imprint: Academic Press
  • eBook ISBN: 9780128176085
  • Paperback ISBN: 9780128176078

About the Authors

Kshitij Tiwari

Kshitij Tiwari is a Postdoctoral Researcher at the Department of Electrical Engineering & Automation, School of Electrical Engineering, Aalto University, Finland. He works with the Intelligent Robotics Group within the Department. He received the Ph.D. (2018) from the Japan Advanced Institute of Science & Technology (JAIST), Japan. He obtained the M.Sc. in Artificial Intelligence with a special focus in Intelligent Robotics from the University of Edinburgh (2014) and the B.Engg. in Electronics & Communication from the University of Hong Kong (2013). His research interests include (but are not limited to) field robotics, applied machine learning, neuronavigation, path planning under uncertainty, and related domains.

Affiliations and Expertise

Department of Electrical Engg. & Automation (EEA) Aalto University Espoo,Finland

Nak Young Chong

Nak Young Chong is a Professor in Robotics at JAIST, Japan. He received the B.S.,M.S., and Ph.D. degrees in mechanical engineering from Hanyang University, Seoul, Korea, in 1987, 1989, and 1994, respectively. From 1994 to 2007, he was a member of research staff at Daewoo Heavy Industries and KIST in Korea, and MEL and AIST in Japan. In 2003, he joined the faculty of Japan Advanced Institute of Science and Technology (JAIST), where he currently is a Professor of Information Science. He also served as Vice Dean for Research and Director of the Center for Intelligent Robotics at JAIST. He was a Visiting Scholar at Northwestern University, Georgia Institute of Technology, University of Genoa, and Carnegie Mellon University, and also served as an Associate Graduate Faculty at the University of Nevada, Las Vegas, International Scholar at Kyung Hee University, and Distinguished Invited Research Professor at Hanyang University. He serves as Senior Editor of the IEEE Robotics and Automation Letters, Topic Editor-in-Chief of International Journal of Advanced Robotic Systems, and served as Senior Editor of IEEE ICRA CEB, and IEEE CASE CEB, and Associate Editor of the IEEE Transactions on Robotics and Journal of Intelligent Service Robotics. He served as Program Chair/CoChair for JCK Robotics 2009, ICAM 2010, IEEE Ro-Man 2011, IEEE CASE 2012, IEEE Ro-Man 2013, URAI 2012/2013, and DARS 2014. He was a General Co-Chair of URAI 2017. He also served as Co-Chair for IEEE-RAS Networked Robots Technical Committee from 2004 to 2006, and Fujitsu Scientific System Working Group from 2004 to 2008.

Affiliations and Expertise

School of Information Science Japan Advanced Institute of Sci. & Tech. Nomi City, Ishikawa, Japan

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