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

Within the scope of the ongoing efforts to fight climate change, the application of multi-robot systems to environmental mapping and monitoring missions is a prominent approach aimed at increasing exploration efficiency. However, the application of such systems to gas sensing missions has yet to be extensively explored and presents some unique challenges, mainly due to the hard-to-sense and expensive-to-model nature of gas dispersion. For this paper, we explored the application of a multi-robot system composed of rotary-winged nano aerial vehicles to a gas sensing mission. We qualitatively and quantitatively analyzed the interference between different robots and the effect on their sensing performance. We then assessed this effect, by deploying several algorithms for 3D gas sensing with increasing levels of coordination in a state-of-the-art wind tunnel facility. The results show that multi-robot gas sensing missions can be robust against documented interference and degradation in their sensing performance. We additionally highlight the competitiveness of multi-robot strategies in gas source location performance with tight mission time constraints.