Gas source declaration with a mobile robot

@article{Lilienthal2004GasSD,
  title={Gas source declaration with a mobile robot},
  author={Achim J. Lilienthal and Andreas Zell and Holger Ulmer and Holger Fr{\"o}hlich and Andreas St{\"u}tzle and Felix Werner},
  journal={IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004},
  year={2004},
  volume={2},
  pages={1430-1435 Vol.2}
}
As a sub-task of the general gas source localisation problem, gas source declaration is the process of determining the certainty that a source is in the immediate vicinity. Due to the turbulent character of gas transport in a natural indoor environment, it is not sufficient to search for instantaneous concentration maxima, in order to solve this task. Therefore, this paper introduces a method to classify whether an object is a gas source or not from a series of concentration measurements… CONTINUE READING

Results and Topics from this paper.

Key Quantitative Results

  • With learning parameters that were optimised by grid search, a maximal hit rate of approximately 87.5% could be obtained using a support vector machine.

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