2026-05-29T22:27:19Zhttps://riuma.uma.es/rest/oai/requestoai:riuma.uma.es:10630/242882026-02-03T12:28:37Zcom_10630_2254col_10630_37959
RIUMA. Repositorio Institucional de la Universidad de Málaga
author
Ojeda, Pepe
author
González-Monroy, Javier
author
González-Jiménez, Antonio Javier
2022-06-06T07:51:48Z
2022-06-06T07:51:48Z
2022
https://hdl.handle.net/10630/24288
Source declaration, along with plume finding and plume tracking, is one of the needed processes for gas source localization (GSL). It is a fundamental part of the search, since it is responsible to decide whether the gas source has been found, and also to pinpoint its location. Despite its importance, source declaration is often ignored in most of the GSL research, the criteria for termination being selected in a seemingly arbitrary manner, or even not being discussed at all. A clear example of this is the large number of experiments in the literature that are declared concluded whenever the robot manages to physically reach the source, without formally declaring it. In this work, we seek to provide an overview of the most significant declaration methods that have been used in state-of-the-art research for single-robot GSL, analyzing their strengths and weaknesses. We also provide a preliminary experimental validation of these methods, focusing on how stable their performance is when their input parameters are modified.
eng
Gas source localization
GSL
Single-robot
Machine olfaction
Gas source declaration
Gas-Industria-Automatización
Robots industriales
Fuentes de energía-Robótica
On gas source declaration methods for single-robot search
conference output
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URL
https://riuma.uma.es/bitstreams/9044871c-ceb1-4190-8d31-8fd2a3222ef3/download
File
MD5
f2b0c338a91e8174ffb0433dde9a27ae
589524
application/pdf
_ISOEN2022__Source_declaration.pdf