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dc.contributor.authorFerri, Gabriele
dc.contributor.authorJakuba, Michael V.
dc.contributor.authorMondini, Alessio
dc.contributor.authorMattoli, Virgilio
dc.contributor.authorMazzolai, Barbara
dc.contributor.authorYoerger, Dana R.
dc.contributor.authorDario, Paolo
dc.date.accessioned2012-02-27T20:33:06Z
dc.date.available2012-02-27T20:33:06Z
dc.date.issued2011-06
dc.identifier.urihttp://hdl.handle.net/1912/5052
dc.descriptionAuthor 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.abstractIn 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.mimetypeapplication/pdf
dc.language.isoen_USen_US
dc.relation.urihttps://doi.org/10.1016/j.robot.2011.06.007
dc.subjectIndoor monitoringen_US
dc.subjectGas source localizationen_US
dc.subjectGas source mappingen_US
dc.subjectOccupancy grid mappingen_US
dc.titleMapping multiple gas/odor sources in an uncontrolled indoor environment using a Bayesian occupancy grid mapping based methoden_US
dc.typePreprinten_US


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