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


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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   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"