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Analysis of Model Mismatch Effects for a Model-Based Gas Source Localization Strategy Incorporating Advection Knowledge

Wiedemann, Thomas and Lilienthal, Achim and Shutin, Dmitriy (2019) Analysis of Model Mismatch Effects for a Model-Based Gas Source Localization Strategy Incorporating Advection Knowledge. Sensors. Multidisciplinary Digital Publishing Institute (MDPI). ISSN 1424-8220

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Abstract: In disaster scenarios, where toxic material is leaking, gas source localization is a common but also dangerous task. To reduce threats for human operators, we propose an intelligent sampling strategy that enables a multi-robot system to autonomously localize unknown gas sources based on gas concentration measurements. This paper discusses a probabilistic, model-based approach for incorporating physical process knowledge into the sampling strategy. We model the spatial and temporal dynamics of the gas dispersion with a partial differential equation that accounts for diffusion and advection effects. We consider the exact number of sources as unknown, but assume that gas sources are sparsely distributed. To incorporate the sparsity assumption we make use of sparse Bayesian learning techniques. Probabilistic modeling can account for possible model mismatch effects that otherwise can undermine the performance of deterministic methods. In the paper we evaluate the proposed gas source localization strategy in simulations using synthetic data. Compared to real-world experiments, a simulated environment provides us with ground truth data and reproducibility necessary to get a deeper insight into the proposed strategy. The investigation shows that (i) the probabilistic model can compensate imperfect modeling; (ii) the sparsity assumption significantly accelerates the source localization; and (iii) a-priori advection knowledge is of advantage for source localization, however, it is only required to have a certain level of accuracy. These findings will help in the future to parameterize the proposed algorithm in real world applications.

Item URL in elib:https://elib.dlr.de/126262/
Document Type:Article
Title:Analysis of Model Mismatch Effects for a Model-Based Gas Source Localization Strategy Incorporating Advection Knowledge
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wiedemann, ThomasThomas.Wiedemann (at) dlr.deUNSPECIFIED
Lilienthal, AchimOrebro UniversityUNSPECIFIED
Shutin, DmitriyDmitriy.Shutin (at) dlr.deUNSPECIFIED
Date:26 January 2019
Journal or Publication Title:Sensors
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:Yes
Publisher:Multidisciplinary Digital Publishing Institute (MDPI)
Keywords:robotic exploration; gas source localization; mobile robot olfaction; sparse Bayesian learning; multi-agent system; advection-diffusion model
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Communication and Navigation
DLR - Research area:Raumfahrt
DLR - Program:R KN - Kommunikation und Navigation
DLR - Research theme (Project):R - Vorhaben GNSS2/Neue Dienste und Produkte
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Communication and Navigation > Communications Systems
Deposited By: Wiedemann, Thomas
Deposited On:06 Feb 2019 15:53
Last Modified:14 Dec 2019 04:27

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