Robotics / autonomous systems
CRAFT
Explore the unknown. Map the hazards.
Robotics research · ROS 2 / GADEN / JetsonConceptual illustration · not experimental data
My contribution
I built the rover framework connecting frontier coverage, CUSUM-triggered fine sweeps, and fused gas and visual risk mapping.
The question
How can a rover cover an unfamiliar space while finding gas leaks and visual hazards, and use those discoveries to guide its subsequent coverage?
What I built
CRAFT brings together the coverage and gas-localization work represented by HazPatrol and CGLS_gaden. A rapidly covering graph samples the discovered frontier. CUSUM gas anomalies trigger local fine sweeps, and fused gas and visual detections build a risk map of hazard type and location.
Evaluation
The framework was evaluated in GADEN, which provides known gas-source locations, and on a Jetson rover. Reported mean source-localization error was 0.54 m in a multi-source setting and 0.53 m in a maze. High-concentration hazards were detected within the first 2% of mission time. Visual inference ran at 24.3 ms per frame with 0.845 mAP@0.5.
For implementation and research details, explore the linked repositories and preprints.