RT Journal Article
T1 Probabilistic localization of gas emission areas with a mobile robot in indoor environments
A1 Sánchez-Garrido, José Carlos
A1 González-Monroy, Javier
A1 González-Jiménez, Antonio Javier
K1 Robótica
AB This work deals with the problem of gas source localization by a mobile robot with gas-sensing capabilities. Particularly, we address the problem for the case of indoor environments, where the presence of obstacles and the possibly complexstructure with multiple rooms, inlets and outlets provoke the chaotic dispersion of the gases. Under these challenging conditions, where traditional approaches based on tracking or mathematical modeling of the plume cannot be applied, we propose a two-stage methodology to split the search into coarse and fine localization. Focusing on the broad localization, we contribute with a novel approach to estimate, from a set of sparse observations, the likelihood of different regions in the environment to hold a gas source. Experiments demonstrate that our approach is suitable to locate gas emission sources.
YR 2018
FD 2018-02-02
LK https://hdl.handle.net/10630/15104
UL https://hdl.handle.net/10630/15104
LA eng
NO Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026