Michael Wandel, Achim Lilienthal, Tom Duckett, Udo Weimar and Andreas Zell
Gas Distribution in Unventilated Indoor Environments Inspected by a Mobile Robot
Proceedings of ICAR 2003, Coimbra, Portugal, June 30 - July 3, pp. 507-512
Gas source localisation with robots
is usually performed in environments
with a strong, unidirectional airflow created by artificial ventilation.
This tends to create a strong, well defined analyte plume
and enables upwind searching.
this paper presents experiments
conducted in unventilated rooms.
the measured concentrations
also indicate an analyte plume
with, however, different properties
concerning its shape, width, concentration profile
and stability over time.
In the results presented in this paper,
two very different mobile robotic systems
for odour sensing
were investigated in different environments,
and the similarities
as well as differences
in the analyte gas distributions
measured are discussed.
AUTHOR = "Michael~R. Wandel and Achim Lilienthal and Tom Duckett and Udo Weimar and Andreas Zell",
TITLE = "Gas Distribution in Unventilated Indoor Environments Inspected by a Mobile Robot",
BOOKTITLE = "Proceedings of the IEEE International Conference on Advanced Robotics (ICAR 2003)",
YEAR = "2003",
PAGES = "507--512",
ADDRESS = "Coimbra, Portugal",
DATE = "June, 30 -- July, 3",