Mapping multiple gas/odor sources in an uncontrolled indoor environment using a Bayesian occupancy grid mapping based method Ferri, Gabriele Jakuba, Michael V. Mondini, Alessio Mattoli, Virgilio Mazzolai, Barbara Yoerger, Dana R. Dario, Paolo 2012-02-27T20:33:06Z 2012-02-27T20:33:06Z 2011-06
dc.description Author Posting. © The Author(s), 2011. This is the author's version of the work. It is posted here by permission of Elsevier B.V. for personal use, not for redistribution. The definitive version was published in Robotics and Autonomous Systems 59 (2011): 988–1000, doi:10.1016/j.robot.2011.06.007. en_US
dc.description.abstract In this paper we address the problem of autonomously localizing multiple gas/odor sources in an indoor environment without a strong airflow. To do this, a robot iteratively creates an occupancy grid map. The produced map shows the probability each discrete cell contains a source. Our approach is based on a recent adaptation [15] to traditional Bayesian occupancy grid mapping for chemical source localization problems. The approach is less sensitive, in the considered scenario, to the choice of the algorithm parameters. We present experimental results with a robot in an indoor uncontrolled corridor in the presence of different ejecting sources proving the method is able to build reliable maps quickly (5.5 minutes in a 6 m x 2.1 m area) and in real time. en_US
dc.format.mimetype application/pdf
dc.language.iso en_US en_US
dc.subject Indoor monitoring en_US
dc.subject Gas source localization en_US
dc.subject Gas source mapping en_US
dc.subject Occupancy grid mapping en_US
dc.title Mapping multiple gas/odor sources in an uncontrolled indoor environment using a Bayesian occupancy grid mapping based method en_US
dc.type Preprint en_US
dspace.entity.type Publication
relation.isAuthorOfPublication 03ce7b46-d32e-4436-acd6-6ebf899e1ab9
relation.isAuthorOfPublication a16cb776-dba1-44fd-a965-bd8d856a22d1
relation.isAuthorOfPublication 88b47abe-be9f-4711-87bc-fe18a11b55b4
relation.isAuthorOfPublication 7722ee5a-569b-4265-a30a-ff1d7fe25fbd
relation.isAuthorOfPublication 676b01a0-9146-490e-84a0-003a06642ec1
relation.isAuthorOfPublication e18ffe36-6fb1-40b8-a5ce-58283a3cfa5d
relation.isAuthorOfPublication d2083ba1-548f-45b7-a625-8df10ec80a1a
relation.isAuthorOfPublication.latestForDiscovery 03ce7b46-d32e-4436-acd6-6ebf899e1ab9
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
1.76 MB
Adobe Portable Document Format
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
1.89 KB
Item-specific license agreed upon to submission