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Exploration and Localization of a Gas Source with MOX Gas Sensorson a Mobile Robot: A Gaussian Regression Bout Amplitude Approach
Dipartitmento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, Italy.
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-4026-7490
University of Hertfordshire, School of Computer Science, College Lane, Hatfield, Herts, United Kingdom.
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0001-5061-5474
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2017 (English)In: 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN 2017): Proceedings, IEEE, 2017, 164-166 p.Conference paper, Published paper (Refereed)
Abstract [en]

Mobile robot olfaction systems combine gas sensorswith mobility provided by robots. They relief humansof dull, dirty and dangerous tasks in applications such assearch & rescue or environmental monitoring. We address gassource localization and especially the problem of minimizingexploration time of the robot, which is a key issue due toenergy constraints. We propose an active search approach forrobots equipped with MOX gas sensors and an anemometer,given an occupancy map. Events of rapid change in the MOXsensor signal (“bouts”) are used to estimate the distance to agas source. The wind direction guides a Gaussian regression,which interpolates distance estimates. The contributions of thispaper are two-fold. First, we extend previous work on gassource distance estimation with MOX sensors and propose amodification to cope better with turbulent conditions. Second,we introduce a novel active search gas source localizationalgorithm and validate it in a real-world environment.

Place, publisher, year, edition, pages
IEEE, 2017. 164-166 p.
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-60672DOI: 10.1109/ISOEN.2017.7968898Scopus ID: 2-s2.0-85027226540OAI: oai:DiVA.org:oru-60672DiVA: diva2:1139675
Conference
IEEE International Symposium on Olfaction and Electronic Nose (ISOEN 2017), Montreal, QC, Canada, May 28-31, 2017
Available from: 2017-09-08 Created: 2017-09-08 Last updated: 2017-09-11Bibliographically approved

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Schaffernicht, ErikHernandez Bennetts, VictorLilienthal, Achim J

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