Predicting against the Flow: Boosting Source Localization by Means of Field Belief Modeling using Upstream Source Proximity
Finn L Busch,Nathalie Bauschmann,Sami Haddadin,Robert Seifried,Daniel A Duecker,Finn L Busch,Nathalie Bauschmann,Sami Haddadin,Robert Seifried,Daniel A Duecker
Time-effective and accurate source localization with mobile robots is crucial in safety-critical scenarios, e.g. leakage detection. This becomes particular challenging in realistic cluttered scenarios, i.e. in the presence of complex current flows or wind. Traditional methods often fall short due to simplifications or limited onboard resources.We propose to combine source localization with a Gauss...
