TY - CONF A1 - Neumann, Patrick P. A1 - Bennetts, V.H. A1 - Bartholmai, Matthias T1 - Adaptive gas source localization strategies and gas distribution mapping using a gas-sensitive micro-drone N2 - In this paper we exemplify how to address environmental monitoring tasks with a gas-sensitive micro-drone and present two different approaches to locate gas emission sources. First, we sent the micro-drone in real-world experiments along predefined sweeping trajectories to model the gas distribution. The identification of the gas source location is made afterwards based on the created model. Second, we adapted two bio-inspired plume tracking algorithms that have been implemented so far on ground-based mobile robots. We developed a third bio-inspired algorithm, which is called “pseudo gradient-based algorithm”, and compared its perfomance in real-world experiments with the other two algorithms. Keywords: Anemotaxis, chemotaxis, micro UAV, bio-inspired, chemical sensing, gas distribution modeling, gas source localization, gas sensors, mobile sensing system, odor localization, olfaction, plume tracking, quadrocopter. T2 - 16. GMA/ITG-Fachtagung 'Sensoren und Messsysteme' CY - Nürnberg, Germany DA - 22.05.2012 KW - Anemotaxis KW - Chemotaxis KW - Micro UAV KW - Bio-inspired KW - Chemical sensing KW - Gas distribution modeling KW - Gas source localization KW - Gas sensors KW - Mobile sensing system KW - Odor localization KW - Olfaction KW - Plume tracking KW - Quadrocopter PY - 2012 SN - 978-3-9813484-0-8 DO - https://doi.org/10.5162/sensoren2012/P5.4 SP - 800 EP - 809 CY - Wunstorf AN - OPUS4-26004 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER -