Faculty Advisor

Demetriou, Michael A.


The goal of this project was to design an experiment to detect a plume of carbon dioxide in a controlled environment using a gas-sensing mobile robot. Research was conducted in the areas of differential-drive robotics, navigation, estimation, and structural analysis. The Khepera IV robot was equipped with four gas concentration sensors and a wind velocity sensor for plume detection and robot guidance. An experimental mount was designed and built to hold the concentration and wind sensors with specifications given from plume estimation simulations. A navigation program was developed using an Extended Kalman Filter to estimate the state of the robot during the plume detection experiment. Testing was conducted on each subsystem to confirm that the experiment was feasible for plume detection.


Worcester Polytechnic Institute

Date Accepted

March 2016


Aerospace Engineering

Project Type

Major Qualifying Project



Advisor Department

Mechanical Engineering