A Bayesian approach for gas source localization in large indoor environments
Yaqub Aris Prabowo,Ravindra Ranasinghe,Gamini Dissanayake,Bambang Riyanto,Brian Yuliarto,Yaqub Aris Prabowo,Ravindra Ranasinghe,Gamini Dissanayake,Bambang Riyanto,Brian Yuliarto
The main contribution of this paper is a probabilistic estimator that assists a mobile robot to locate a gas source in an indoor environment. The scenario is that a robot equipped with a gas sensor enters a building after the gas is released due to a leak or explosion. The problem is discretized by dividing the environment into a set of regions and time into a set of time intervals. Likelihood fun...
