TY - CONF A1 - Neumann, Patrick P. A1 - Asadi, S. A1 - Schiller, J.H. A1 - Lilienthal, A.J. A1 - Bartholmai, Matthias T1 - An artificial potential field based sampling strategy for a gas-sensitive micro-drone N2 - This paper presents a sampling strategy for mobile gas sensors. Sampling points are selected using a modified artificial potential field (APF) approach, which balances multiple criteria to direct sensor measurements towards locations of high mean concentration, high concentration variance and areas for which the uncertainty about the gas distribution model is still large. By selecting in each step the most often suggested close-by measurement location, the proposed approach introduces a locality constraint that allows planning suitable paths for mobile gas sensors. Initial results in simulation and in real-world experiments with a gas-sensitive micro-drone demonstrate the suitability of the proposed sampling strategy for gas distribution mapping and its use for gas source localization. T2 - IEEE/RSJ International conference on intelligent robots and systems (IROS '11) / Workshop on robotics for environmental monitoring (WREM2011) CY - San Francisco, CA, USA DA - 25.09.2011 KW - Autonomous UAV KW - Chemical sensing KW - Gas distribution modelling KW - Gas source localization KW - Gas sensors KW - Mobile sensing system KW - Quadrocopter KW - Sensor planning KW - Artificial potential field PY - 2011 SP - 34 EP - 38 AN - OPUS4-24537 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - JOUR A1 - Bartholmai, Matthias A1 - Neumann, Patrick P. T1 - Adaptive ortsaufgelöste Gaskonzentrationsmessung mit einer Mikrodrohne KW - Gasmessung KW - Gasemission KW - Emissionskontrolle KW - Windvektor KW - Mikrodrohne KW - Data-Mapping KW - Gas measurement KW - Gas emission KW - Emission control KW - Wind vector KW - Micro-drone KW - Data mapping PY - 2011 U6 - https://doi.org/10.1524/teme.2011.0158 SN - 0340-837X SN - 0178-2312 SN - 0171-8096 VL - 78 IS - 10 SP - 470 EP - 478 PB - Oldenbourg CY - München AN - OPUS4-24652 LA - deu AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Neumann, Patrick P. A1 - Asadi, S. A1 - Schiller, J.H. A1 - Lilienthal, A. A1 - Bartholmai, Matthias T1 - An Artificial Potential Field based Sampling Strategy for a Gas-Sensitive Micro-Drone T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems - Workshop on Robotics for Environmental Monitoring (WREM2011) CY - San Francisco, CA, USA DA - 2011-09-25 PY - 2011 AN - OPUS4-24593 LA - deu AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Neumann, Patrick P. A1 - Bartholmai, Matthias T1 - Adaptive ortsaufgelöste Gaskonzentrationsmessungen mit einer Mikrodrohne T2 - AK Sensorik CY - Berlin, Germany DA - 2011-08-24 PY - 2011 AN - OPUS4-24594 LA - deu AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - JOUR A1 - Bennetts, V.H. A1 - Lilienthal, A.J. A1 - Neumann, Patrick P. A1 - Trincavelli, M. T1 - Mobile robots for localizing gas emission sources on landfill sites: is bio-inspiration the way to go? N2 - Roboticists often take inspiration from animals for designing sensors, actuators or algorithms that control the behaviour of robots. Bio-inspiration is motivated with the uncanny ability of animals to solve complex tasks like recognizing and manipulating objects, walking on uneven terrains, or navigating to the source of an odour plume. In particular the task of tracking an odour plume up to its source has nearly exclusively been addressed using biologically inspired algorithms and robots have been developed, for example, to mimic the behaviour of moths, dungbeetles, or lobsters. In this paper we argue that biomimetic approaches to gas source localization are of limited use, primarily because animals differ fundamentally in their sensing and actuation capabilities from state-of-the-art gas-sensitive mobile robots. To support our claim, we compare actuation and chemical sensing available to mobile robots to the corresponding capabilities of moths. We further characterize airflow and chemosensor measurements obtained with three different robot platforms (two wheeled robots and one flying micro drone) in four prototypical environments and show that the assumption of a constant and unidirectional airflow, which is at the basis of many gas source localization approaches, is usually far from being valid. This analysis should help to identify how underlying principles, which govern the gas source tracking behaviour of animals, can be usefully 'translated' into gas source localization approaches that fully take into account the capabilities of mobile robots. We also describe the requirements for a reference application, monitoring of gas emissions at landfill sites with mobile robots, and discuss an engineered gas source localization approach based on statistics as an alternative to biologically-inspired algorithms. KW - Mobile robotics KW - Mobile robot olfaction KW - Biologically inspired robots KW - Landfill surveillance PY - 2011 UR - http://journal.frontiersin.org/Journal/10.3389/fneng.2011.00020/full U6 - https://doi.org/10.3389/fneng.2011.00020 SN - 1662-6443 SP - 1 EP - 14 PB - Frontiers Research Foundation CY - Lausanne AN - OPUS4-25037 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER -