Dokument-ID Dokumenttyp Autoren/innen Persönliche Herausgeber/innen Haupttitel Abstract Auflage Verlagsort Verlag Herausgeber (Institution) Erscheinungsjahr Titel des übergeordneten Werkes Jahrgang/Band ISBN Veranstaltung Veranstaltungsort Beginndatum der Veranstaltung Enddatum der Veranstaltung Ausgabe/Heft Erste Seite Letzte Seite URN DOI Lizenz Datum der Freischaltung OPUS4-43920 Beitrag zu einem Tagungsband Neumann, Patrick P.; Bennetts, V. H.; Lilienthal, A.J.; Bartholmai, Matthias From Insects to Micro Air Vehicles - A Comparison of Reactive Plume Tracking Strategies Insect behavior is a common source of inspiration for roboticists and computer scientists when designing gas-sensitive mobile robots. More specifically, tracking airborne odor plumes and localization of distant gas sources are abilities that suit practical applications such as leak localization and emission monitoring. Gas sensing with mobile robots has been mostly addressed with ground-based platforms and under simplified conditions and thus, there exist a significant gap between the outstanding insect abilities and state of the art robotics systems. As a step towards practical applications, we evaluated the performance of three biologically inspired plume tracking algorithms. The evaluation is carried out not only with computer simulations, but also with real-world experiments in which, a quadrocopter-based micro Unmanned Aerial Vehicle autonomously follows a methane trail towards the emitting source. Compared to ground robots, micro UAVs bring several advantages such as their superior steering capabilities and fewer mobility restrictions in complex terrains. The experimental evaluation shows that, under certain environmental conditions, insect like behavior in gas-sensitive UAVs is feasible in real world environments. 2014 13th International Conference on Intelligent Autonomous Systems (IAS) 13th International Conference on Intelligent Autonomous Systems (IAS) Padova, Italy 15.07.2014 18.07.2014 1 12 2015-12-31 OPUS4-31525 Zeitschriftenartikel Neumann, Patrick P.; Schnürmacher, M.; Bennetts, V.H.; Lilienthal, A.J.; Bartholmai, Matthias; Schiller, J.H. A probabilistic gas patch path prediction approach for airborne gas source localization in non-uniform wind fields In this paper, we show that a micro unmanned aerial vehicle (UAV) equipped with commercially available gas sensors can address environmental monitoring and gas source localization (GSL) tasks. To account for the challenges of gas sensing under real-world conditions, we present a probabilistic approach to GSL that is based on a particle filter (PF). Simulation and real-world experiments demonstrate the suitability of this algorithm for micro UAV platforms. Stevenson Ranch, CA, USA American Scientific Publishers (ASP) 2014 Sensor letters 12 6/7 1113 1118 10.1166/sl.2014.3168 2016-02-20