Informative Path Planning for Gas Distribution Mapping in Cluttered Environments
Callum Rhodes,Cunjia Liu,Wen-Hua Chen,Callum Rhodes,Cunjia Liu,Wen-Hua Chen
Mobile robotic gas distribution mapping (GDM) is a useful tool for hazardous scene assessment where a quick and accurate representation of gas concentration levels is required throughout a staging area. However, research in robotic path planning for GDM has primarily focused on mapping in open spaces or estimating the source term in dispersion models. Whilst this may be appropriate for environment...
