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Creating gas concentration gridmaps with a mobile robot
University of Tübingen, Tübingen, Germany. (Learning Systems Lab)ORCID iD: 0000-0003-0217-9326
Örebro University, Department of Technology. (Learning Systems Lab)
2003 (English)In: Proceedings: 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003), New York, USA: IEEE, 2003, Vol. 3, p. 118-123Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of mapping the features of a gas distribution by creating concentration gridmaps from the data collected by a mobile robot equipped with an electronic nose. By contrast to metric gridmaps extracted from sonar or laser range scans, a single measurement of the electronic nose provides information about a comparatively small area. To overcome this problem, a mapping technique is introduced that uses a Gaussian density function to model the decreasing likelihood that a particular reading represents the true concentration with respect to the distance from the point of measurement. This method is evaluated in terms of its suitability regarding the slow response and recovery of the gas sensors. The stability of the mapped features and the capability to use concentration gridmaps to locate a gas source are also discussed.

Place, publisher, year, edition, pages
New York, USA: IEEE, 2003. Vol. 3, p. 118-123
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4003DOI: 10.1109/IROS.2003.1250615Scopus ID: 2-s2.0-0346149845ISBN: 0-7803-7860-1 (print)OAI: oai:DiVA.org:oru-4003DiVA, id: diva2:138302
Conference
International Conference on Intelligent Robots and Systems, IROS 2003, Las Vegas, USA, 27-31 Oct., 2003
Available from: 2007-09-04 Created: 2007-09-04 Last updated: 2018-05-04Bibliographically approved

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Creating Gas Concentration Gridmaps with a Mobile Robot(1832 kB)54 downloads
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File name FULLTEXT01.pdfFile size 1832 kBChecksum SHA-512
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Type fulltextMimetype application/pdf

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Publisher's full textScopushttp://www.aass.oru.se/Research/Learning/publications.html

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Lilienthal, Achim J.Duckett, Tom

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
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Output format
  • html
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  • asciidoc
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