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
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.
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",