Achim Lilienthal, Holger Ulmer, Holger Fröhlich, Felix Werner, and Andreas Zell
Gas Source Declaration with a Mobile Robot
IROS 2004, Sendai, Japan, September 28 - October 2, 2004, pp. 1444 - 1449
Abstract
As a sub-task of the general gas source localisation problem, gas source
declaration is the process of determining the certainty that a source is in the
immediate vicinity. Due to the turbulent character of gas transport in a
natural indoor environment, it is not sufficient to search for instantaneous
concentration maxima, in order to solve this task. Therefore, this paper
introduces a method to classify whether an object is a gas source
from a series of concentration measurements, recorded while the robot performs a
rotation manoeuvre in front of a possible source. For three different gas
source positions, a total of 1056 declaration experiments were carried out at
different robot-to-source distances. Based on these readings, support vector
machines (SVM) with optimised learning parameters were trained and the
cross-validation classification performance was evaluated. The results
demonstrate the feasibility of the approach to detect proximity to a gas source
using only gas sensors. The paper presents also an analysis of the
classification rate depending on the desired declaration accuracy, and a
comparison with the classification rate that can be achieved by selecting an
optimal threshold value regarding the mean sensor signal.
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Bibtex
@INPROCEEDINGS{Lilienthal:ICRA2004,
AUTHOR = "Achim J. Lilienthal and Holger Ulmer and Holger Fr{\"o}hlich and Felix Werner and Andreas Zell",
TITLE = "Gas Source Declaration with a Mobile Robot",
BOOKTITLE = "Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2004)",
YEAR = "2004",
PAGES = "1430 -- 1435"
}