To Örebro University

In this paper, we consider the problem of learning a two dimensional spatial model of a gas distribution with a mobile robot. Building maps that can be used to accurately predict the gas concentration at query locations is a challenging task due to the chaotic nature of gas dispersal. We present an approach that formulates this task as a regression problem. To deal with the specific properties of typical gas distributions, we propose a sparse Gaussian process mixture model. This allows us to accurately represent the smooth background signal as well as areas of high concentration. We integrate the sparsification of the training data into an EM procedure used for learning the mixture components and the gating function. Our approach has been implemented and tested using datasets recorded with a real mobile robot equipped with an electronic nose. We demonstrate that our models are well suited for predicting gas concentrations at new query locations and that they outperform alternative methods used in robotics to carry out in this task.