Sniffbots to the Rescue – Fog Services
for a Gas-Sniffing Immersive Robot
Collective
Uwe Aßmann
1(B)
, Mikhail Belov
1
, Thanh-Tien Tenh Cong
1
,
Waltenegus Dargie
1
, Jianjun Wen
1
,LeonUrbas
2
, Candy Lohse
2
,
Luis Antonio Panes-Ruiz
3
, Leif Riemenschneider
3
, Bergoi Ibarlucea
3
,
Gianaurelio Cuniberti
3
, Mohamad Moner Al Chawa
4
,
Christoph Grossmann
5
, Steffen Ihlenfeld
5
, Ronald Tetzlaff
4
,
Sergio A. Pertuz
1
, and Diana Goehringer
1
1
Fakult¨at Informatik, Technische Universit¨at Dresden, Dresden, Germany
{uwe.assmann,mikhail.belov,thanh-tien.tenhcong,waltenegus.dargie,
jianjun.wen,sergio.pertuz,diana.goehringer}@tu-dresden.de
2
Fakult¨at Elektrotechnik und Informationstechnik, Technische Universit¨at Dresden,
Dresden, Germany
[email protected]
3
Fakult¨at f¨ur Maschinenwesen, Technische Universit¨at Dresden, Dresden, Germany
{luis
antonio.panes-ruiz,leif.riemenschneider,bergoi.ibarlucea,
gianaurelio.cuniberti}@tu-dresden.de
4
Institute of Circuits and Systems, Technische Universit¨at Dresden,
Dresden, Germany
{mohamad
moner.alchawa,ronald.tetzlaff}@tu-dresden.de
5
Institute of Mechatronic Engineering, Technische Universit¨at Dresden,
Dresden, Germany
[email protected]
http://sniffbot.inf.tu-dresden.de
Abstract.Gas accidents frequently turn industrial or civil structures
into extremely dangerous environments. Disasters like the Ahrtal flood
in summer 2021 destroy infrastructures such as the gas grid and the
power grid, so that people loose control and suddenly find themselves
confronted with explosions, suffocation, and death. This paper presents
a case study of a robot collective identifying gas leaks with a gas-sniffing
wireless sensor network, while providing immersive inspection and tele-
operation in the dangerous areas. So-calledSniffbotswork in a minimal
communication infrastructure, construct world maps autonomously, use
them to find gas leaks, remotely inspect, and attempt to close them.
To this end, the fog of aSniffbotshould offer services, such as sniff-
sensor data aggregation, calculation of points of interest in 2-D and 3-D,
virtual reality immersion, remote gripping, as well as autonomous control
of flying and driving. While this paper discusses a prototype system
still under development, the experiments show the fantastic capabilities
of modern gas-sniffing sensors in an immersive robotic fog.Sniffbots,
though, at this moment in time, being very expensive robot collectives,
cffIFIP International Federation for Information Processing 2022
Published by Springer Nature Switzerland AG 2022
F. Montesi et al. (Eds.): ESOCC 2022, LNCS 13226, pp. 3–28, 2022.
https://doi.org/10.1007/978-3-031-04718-3
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