Active Localization of Gas Leaks Using Fluid Simulation

  title={Active Localization of Gas Leaks Using Fluid Simulation},
  author={Martin Asenov and Marius Rutkauskas and Derryck Telford Reid and Kartic Subr and Subramanian Ramamoorthy},
  journal={IEEE Robotics and Automation Letters},
Sensors are routinely mounted on robots to acquire various forms of measurements in spatiotemporal fields. Locating features within these fields and reconstruction (mapping) of the dense fields can be challenging in resource-constrained situations, such as when trying to locate the source of a gas leak from a small number of measurements. In such cases, a model of the underlying complex dynamics can be exploited to discover informative paths within the field. We use a fluid simulator as a model… Expand
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