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dc.contributor.authorMonroy, Javier
dc.contributor.authorRuiz-Sarmiento, Jose-Raul
dc.contributor.authorMoreno, Francisco-Angel
dc.contributor.authorGalindo, Cipriano 
dc.contributor.authorGonzalez-Jimenez, Antonio Javier 
dc.date.accessioned2018-06-28T08:36:08Z
dc.date.available2018-06-28T08:36:08Z
dc.date.created2018
dc.date.issued2018-06-28
dc.identifier.urihttps://hdl.handle.net/10630/16047
dc.descriptionTowards a Semantic Gas Source Localization under Uncertainty.Communications in Computer and Information Science book series (CCIS, volume 855), doi:10.1007/978-3-319-91479-4_42en_US
dc.description.abstractThis work addresses the problem of efficiently and coherently locating a gas source in a domestic environment with a mobile robot, meaning efficiently the coverage of the shortest distance as possible and coherently the consideration of different gas sources explaining the gas presence. The main contribution is the exploitation, for the first time, of semantic relationships between the gases detected and the objects present in the environment to face this challenging issue. Our proposal also takes into account both the uncertainty inherent in the gas classification and object recognition processes. These uncertainties are combined through a probabilistic Bayesian framework to provide a priority-ordered list of (previously observed) objects to check. Moreover the proximity of the different candidates to the current robot location is also considered by a cost function, which output is used for planning the robot inspection path. We have conducted an initial demonstration of the suitability of our gas source localization approach by simulating this task within domestic environments for a variable number of objects, and comparing it with an greedy approach.en_US
dc.description.sponsorshipUniversidad de Málaga. Campus de Excelencia Internacional Andalucía Tech.
dc.language.isoengen_US
dc.relation.ispartofseriesCommunications in Computer and Information Science book series (CCIS, volume 855), doi:10.1007/978-3-319-91479-4_42
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectRobóticaen_US
dc.subject.otherRobotic olfactionen_US
dc.subject.otherGas source localizationen_US
dc.subject.otherSemantic informationen_US
dc.subject.otherMobile roboten_US
dc.titleTowards a Semantic Gas Source Localization under Uncertaintyen_US
dc.typeinfo:eu-repo/semantics/conferenceObjecten_US
dc.centroE.T.S.I. Informáticaen_US
dc.relation.eventplaceCádiz, España
dc.relation.eventplaceInt. Conf. on Information Processing and Management of Uncertainty in Knowledge-Based Systems
dc.relation.eventdateJunio 2018
dc.identifier.doi10.1007/978-3-319-91479-4_42
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*


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Attribution-NonCommercial-NoDerivatives 4.0 Internacional
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