TY - GEN
T1 - Adaptive sensing for instantaneous gas release parameter estimation
AU - Christopoulos, Vassilios N.
AU - Roumeliotis, Stergios
PY - 2005
Y1 - 2005
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=33846120611&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33846120611&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2005.1570805
DO - 10.1109/ROBOT.2005.1570805
M3 - Conference contribution
AN - SCOPUS:33846120611
SN - 078038914X
SN - 9780780389144
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4450
EP - 4456
BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation
T2 - 2005 IEEE International Conference on Robotics and Automation
Y2 - 18 April 2005 through 22 April 2005
ER -