Publications of Achim Lilienthal

Achim Lilienthal and Tom Duckett

Gas Source Localisation by Constructing Concentration Gridmaps with a Mobile Robot

Proceedings of ECMR 2003, Warsawa, Poland, September 4-6, pp. 159-164

Abstract

This paper addresses the problem of mapping the features of a gas distribution by creating concentration gridmaps with a mobile robot equipped with a gas-sensitive system ("mobile nose"). By contrast to metric gridmaps extracted from sonar or laser range scans, a gas sensor measurement provides information about a comparatively small area. To overcome this problem, a mapping technique is introduced that uses a Gaussian density function to model the decreasing likelihood that a particular reading represents the true concentration with respect to the distance from the point of measurement. The structure of the mapped features is discussed with respect to the parameters of the applied density function, the evolution of the gas distribution over time, and the capability to locate a gas source.

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Bibtex

@INPROCEEDINGS{Lilienthal:2003d,
   AUTHOR =       "Achim Lilienthal and Tom Duckett",
   TITLE =        "Gas Source Localisation by Constructing Concentration Gridmaps with a Mobile Robot",
   BOOKTITLE =    "Proceedings of the European Conference on Mobile Robots (ECMR 2003)",
   YEAR =         "2003",
   PAGES =        "159 -- 164",
   ADDRESS =      "Warsawa, Poland",
   DATE =         "September, 4--6",
}