RT Journal Article
T1 Information-Driven Gas Source Localization Exploiting Gas and Wind Local Measurements for Autonomous Mobile Robots
A1 Ojeda, Pepe
A1 González-Monroy, Javier
A1 González-Jiménez, Antonio Javier
K1 Robótica
AB Gas source localization (GSL) by an olfactory robot is a research field with a great potential for applications but also with numerous unsolved challenges, particularly when the search must take place in realistic, indoor environments that feature obstacles and turbulent airflows. In this work, we present a new probabilistic GSL method for a terrestrial mobile robot that revolves around the propagation of local estimations throughout the environment. By exploiting the geometry of the environment as the basis for this propagation, we avoid relying on analytical dispersion models, eliminating the need to assume controlled environmental conditions. Simulated and real experiments are presented in different indoor environments featuring multiple rooms and turbulent flows, demonstrating the suitability of our approach for locating the emitting gas source.
PB IEEE
YR 2021
FD 2021-04
LK https://hdl.handle.net/10630/29846
UL https://hdl.handle.net/10630/29846
LA eng
NO P. Ojeda, J. Monroy, J. Gonzalez-Jimenez. “Information-Driven Gas Source Localization Exploiting Gas and Wind Local Measurements for Autonomous Mobile Robots”. IEEE Robotics and Automation Letters. 6 (2), 1320-1326. 2021
NO Junta de Andalucía, Fondos FEDER. Proyectos P20_01302, TEP2012-530
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 27 ene 2026