Patrick P. Neumann, Victor Hernandez Bennetts, Achim J. Lilienthal, Matthias Bartholmaia and Jochen H. Schiller
Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms
Advanced Robotics - Research Topic, Volume 0, Issue 0, 2013.
Abstract: Gas source localization (GSL) with mobile robots is a challenging task due to the unpredictable nature of gas dispersion, the limitations of the currents sensing technologies, and the mobility constraints of ground-based robots. This work proposes an integral solution for the GSL task, including source declaration. We present a novel pseudo-gradient-based plume tracking algorithm and a particle filter-based source declaration approach, and apply it on a gas-sensitive micro-drone. We compare the performance of the proposed system in simulations and real-world experiments against two commonly used tracking algorithms adapted for aerial exploration missions.
Keywords: autonomous micro UAV, chemical and wind sensing, gas source localization, particle filter
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Paper: [Open Access Journal]
 @article{doi:10.1080/01691864.2013.779052,
 author = {Neumann, Patrick P. and Hernandez Bennetts, Victor and Lilienthal, Achim J. and Bartholmai, Matthias and Schiller, Jochen H.},
 title = {Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms},
 journal = {Advanced Robotics},
 volume = {0},
 number = {0},
 pages = {1-14},
 year = {0},
 doi = {10.1080/01691864.2013.779052},
 }