Mapping multiple gas/odor sources in an uncontrolled indoor environment using a Bayesian occupancy grid mapping based method

In this paper we address the problem of autonomously localizing multiple gas/odor sources in an indoor environment without a strong airflow. To do this, a robot iteratively creates an occupancy grid map. The produced map shows the probability each discrete cell contains a source. Our approach is bas...

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Veröffentlicht in:	Robotics and autonomous systems 2011-11, Vol.59 (11), p.988-1000
Hauptverfasser:	Ferri, Gabriele, Jakuba, Michael V., Mondini, Alessio, Mattoli, Virgilio, Mazzolai, Barbara, Yoerger, Dana R., Dario, Paolo
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptation Airflow Autonomous Bayesian analysis Gas source localization Gas source mapping Indoor environments Indoor monitoring Mapping Occupancy grid mapping Odors Robots
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