Adaptive sensing for instantaneous gas release parameter estimation

Vassilios N. Christopoulos, Stergios Roumeliotis

Research output: Chapter in Book/Report/Conference proceedingConference contribution

33 Scopus citations

Abstract

This paper presents a new approach for estimating in real-time the parameters of the advection-diffusion equation that describes the propagation of an instantaneously released gas. A mobile robot equipped with an appropriate sensing device collects measurements in order to estimate the parameters of this equation. The selection of the set of locations where chemical concentration measurements should be recorded, is performed in real-time with the objective of maximizing the accuracy of the parameter estimates and reducing the time to convergence of this estimation problem. Simulation results are presented that validate the described approach, which has significantly lower computational requirements compared to alternative motion strategies based on exhaustive global search.

Original languageEnglish (US)
Title of host publicationProceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages4450-4456
Number of pages7
DOIs
StatePublished - Dec 1 2005
Event2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain
Duration: Apr 18 2005Apr 22 2005

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2005
ISSN (Print)1050-4729

Other

Other2005 IEEE International Conference on Robotics and Automation
CountrySpain
CityBarcelona
Period4/18/054/22/05

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