Name
Title | ||
|---|---|---|
Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms. |
Abstract | ||
|---|---|---|
Gas source localization (GSL) with mobile robots is a challenging task due to the unpredictable nature of gas dispersion, the limitations of the currents sensing technologies, and the mobility constraints of ground-based robots. This work proposes an integral solution for the GSL task, including source declaration. We present a novel pseudo-gradient-based plume tracking algorithm and a particle filter-based source declaration approach, and apply it on a gas-sensitive micro-drone. We compare the performance of the proposed system in simulations and real-world experiments against two commonly used tracking algorithms adapted for aerial exploration missions. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1080/01691864.2013.779052 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
autonomous micro UAV,chemical and wind sensing,gas source localization,particle filter | Particle filter,Algorithm,Control engineering,Source localization,Drone,Engineering,Robot,Mobile robot | Journal |
Volume | Issue | ISSN |
27 | SP9 | 0169-1864 |
Citations | PageRank | References |
33 | 1.70 | 8 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Patrick P. Neumann | 1 | 77 | 5.64 |
| Victor Manuel Hernandez Bennetts | 2 | 74 | 7.30 |
| Achim J. Lilienthal | 3 | 1468 | 113.18 |
| Matthias Bartholmai | 4 | 73 | 5.53 |
| Jochen H. Schiller | 5 | 355 | 38.16 |