Patrick Neumann, Sahar Asadi, Jochen H. Schiller, Achim J. Lilienthal and Matthias Bartholmai
An Artificial Potential Field based Sampling Strategy for a Gas-Sensitive Micro-Drone
Proceedings of the IROS 2011 Workshop on Robotics for Environmental Monitoring (WREM)}, September 30, 2011, San Fansico, CA, USA.
Abstract: This paper presents a sampling strategy for mobile gas sensors. Sampling points are selected using a modified artificial potential field (APF) approach, which balances multiple criteria to direct sensor measurements towards locations of high mean concentration, high concentration variance and areas for which the uncertainty about the gas distribution model is still large. By selecting in each step the most often suggested close-by measurement location, the proposed approach introduces a locality constraint that allows planning suitable paths for mobile gas sensors. Initial results in simulation and in real-world experiments with a gas-sensitive micro-drone demonstrate the suitability of the proposed sampling strategy for gas distribution mapping and its use for gas source localization.
Keywords: autonomous UAV, chemical sensing, gas distribution modelling, gas source localization, gas sensors, mobile sensing system, quadrocopter, sensor planning, artificial potential field.
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@INPROCEEDINGS{Neumann_etal:WREM:2011,
  ADDRESS = {San Francisco, CA},
  AUTHOR = {Patrick Neumann and Sahar Asadi and Jochen H. Schiller and Achim J. Lilienthal and Matthias Bartholmai},
  TITLE = {An Artificial Potential Field based Sampling Strategy for a Gas-Sensitive Micro-Drone},
  BOOKTITLE = {Proceedings of the IROS 2011 Workshop on Robotics for Environmental Monitoring (WREM)},
  PAGES = {34--38},
  YEAR = {2011}
}