TY - JOUR A1 - Neumann, Patrick P. A1 - Bennetts, V.H. A1 - Lilienthal, A.J. A1 - Bartholmai, Matthias A1 - Schiller, J.H. T1 - Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms T2 - Advanced robotics N2 - 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. PB - VNU Sciences Pr. CY - Utrecht KW - Autonomous micro UAV KW - Chemical and wind sensing KW - Gas source localization KW - Particle filter PY - 2013 UR - https://opus4.kobv.de/opus4-bam/frontdoor/index/index/docId/28010 AN - OPUS4-28010 SN - 0169-1864 SP - 725 EP - 738 AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany