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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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dc.contributor.author Ferri, Gabriele
dc.contributor.author Jakuba, Michael V.
dc.contributor.author Mondini, Alessio
dc.contributor.author Mattoli, Virgilio
dc.contributor.author Mazzolai, Barbara
dc.contributor.author Yoerger, Dana R.
dc.contributor.author Dario, Paolo
dc.date.accessioned 2012-02-27T20:33:06Z
dc.date.available 2012-02-27T20:33:06Z
dc.date.issued 2011-06
dc.identifier.uri http://hdl.handle.net/1912/5052
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.relation.uri http://dx.doi.org/10.1016/j.robot.2011.06.007
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


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