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

View/ Open
Date
2011-06Author
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
Show full item recordCitable URI
https://hdl.handle.net/1912/5052As published
https://doi.org/10.1016/j.robot.2011.06.007Abstract
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
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/1912/5052Related items
Showing items related by title, author, creator and subject.
-
On predicting abundance from occupancy
Solow, Andrew R.; Smith, Woollcott K. (University of Chicago Press, 2010-05-13)There is growing interest in predicting the abundance of a species in a region from the occupancy of cells in a uniform grid overlaid on the region. When the number of individuals in each cell follows a negative binomial ... -
Perceptions of occupational risk by US commercial fishermen
Davis, Mary E. (2011-03-10)The dangers associated with commercial fishing are well documented, and fishermen consistently face one of the highest job-related mortality risks of all US occupations. This study explored fishermen’s perceptions of these ... -
Occupational safety and regulatory compliance in US commercial fishing
Davis, Mary E. (2010-11-19)This study explored occupational safety practices and regulatory compliance in a representative sample of Maine commercial fishing vessels. Data were collected on demographic characteristics, safety equipment and training, ...