oru.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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
Autonomous gas-sensitive microdrone wind vector estimation and gas distribution mapping
BAM Federal Institute for Materials Research and Testing, Berlin, Germany.
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems ( AASS ))ORCID iD: 0000-0003-0217-9326
Sensors and Measurement Systems Working Group, BAM Federal Institute for Materials Research and Testing, Berlin, Germany.
Show others and affiliations
2012 (English)In: IEEE robotics & automation magazine, ISSN 1070-9932, E-ISSN 1558-223X, Vol. 19, no 1, p. 50-61Article in journal (Refereed) Published
Abstract [en]

This article presents the development and validation of an autonomous, gas sensitive microdrone that is capable of estimating the wind vector in real time using only the onboard control unit of the microdrone and performing gas distribution mapping (DM). Two different sampling approaches are suggested to address this problem. On the one hand, a predefined trajectory is used to explore the target area with the microdrone in a real-world gas DM experiment. As an alternative sampling approach, we introduce an adaptive strategy that suggests next sampling points based on an artificial potential field (APF). Initial results in real-world experiments demonstrate the capability of the proposed adaptive sampling strategy for gas DM and its use for gas source localization.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2012. Vol. 19, no 1, p. 50-61
Keywords [en]
Robot sensing systems, Real time systems, Gas detectors, Delta modulation, Mobile communication
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-22715DOI: 10.1109/MRA.2012.2184671ISI: 000302539600011Scopus ID: 2-s2.0-84859714487OAI: oai:DiVA.org:oru-22715DiVA, id: diva2:524749
Note

Funding Agencies:

European Commission FP7 224318

BMWi 28/07

Available from: 2012-05-03 Created: 2012-05-03 Last updated: 2018-01-12Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records BETA

Asadi, SaharLilienthal, Achim J.

Search in DiVA

By author/editor
Asadi, SaharLilienthal, Achim J.
By organisation
School of Science and Technology
In the same journal
IEEE robotics & automation magazine
Computer Sciences

Search outside of DiVA

GoogleGoogle Scholar

doi
urn-nbn

Altmetric score

doi
urn-nbn
Total: 480 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • 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