Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms

  title={Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms},
  author={Patrick P. Neumann and Victor Manuel Hernandez Bennetts and Achim J. Lilienthal and Matthias Bartholmai and Jochen H. Schiller},
  journal={Advanced Robotics},
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… CONTINUE READING
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