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    Mapping multiple gas/odor sources in an uncontrolled indoor environment using a Bayesian occupancy grid mapping based method

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    Date
    2011-06
    Author
    Ferri, Gabriele  Concept link
    Jakuba, Michael V.  Concept link
    Mondini, Alessio  Concept link
    Mattoli, Virgilio  Concept link
    Mazzolai, Barbara  Concept link
    Yoerger, Dana R.  Concept link
    Dario, Paolo  Concept link
    Metadata
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    Citable URI
    https://hdl.handle.net/1912/5052
    As published
    https://doi.org/10.1016/j.robot.2011.06.007
    Keyword
     Indoor monitoring; Gas source localization; Gas source mapping; Occupancy grid mapping 
    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.
    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.
    Collections
    • Applied Ocean Physics and Engineering (AOP&E)
    Suggested Citation
    Preprint: Ferri, Gabriele, Jakuba, Michael V., Mondini, Alessio, Mattoli, Virgilio, Mazzolai, Barbara, Yoerger, Dana R., Dario, Paolo, "Mapping multiple gas/odor sources in an uncontrolled indoor environment using a Bayesian occupancy grid mapping based method", 2011-06, https://doi.org/10.1016/j.robot.2011.06.007, https://hdl.handle.net/1912/5052
     

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