oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Gas source localisation by constructing 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 of the European conference on mobile robots: ECMR 2003, 2003, p. 159-164Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of mapping the features of a gas distribution by creating concentration gridmaps with a mobile robot equipped with a gas-sensitive system ("mobile nose"). By contrast to metric gridmaps extracted from sonar or laser range scans, a gas sensor measurement 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. The structure of the mapped features is discussed with respect to the parameters of the applied density function, the evolution of the gas distribution over time, and the capability to locate a gas source.

Place, publisher, year, edition, pages
2003. p. 159-164
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4004OAI: oai:DiVA.org:oru-4004DiVA, id: diva2:138303
Conference
European Conference on Mobile Robots, ECMR 2003, Warsawa, Poland
Available from: 2007-09-04 Created: 2007-09-04 Last updated: 2018-04-17Bibliographically approved

Open Access in DiVA

Gas Source Localisation by Constructing Concentration Gridmaps with a Mobile Robot(2581 kB)47 downloads
File information
File name FULLTEXT01.pdfFile size 2581 kBChecksum SHA-512
5183fd793b90e0072a6caac42c0b420f698851188b63ed2596039ccd06b58b8fca89be04ca569d71f088244526adbbbff1eb36219e89ea1be5d1a9408331cd0b
Type fulltextMimetype application/pdf

Other links

http://www.aass.oru.se/Research/Learning/publications.html

Authority records BETA

Lilienthal, Achim J.Duckett, Tom

Search in DiVA

By author/editor
Lilienthal, Achim J.Duckett, Tom
By organisation
Department of Technology
Computer Sciences

Search outside of DiVA

GoogleGoogle Scholar
Total: 47 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 434 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf