Achim J. Lilienthal, Amy Loutfi, Jose Luis Blanco, Cipriano Galindo and Javier Gonzalez
Integrating SLAM into Gas Distribution Mapping
Proc. ICRA Workshop on "Robotic Olfaction – Towards Real Applications", 2007, pp. 21 - 28
Abstract: In this paper we consider the problem of creating a spatial representation of a gas distribution in an environment using a mobile robot equipped with gas sensors. The gas distribution mapping method used models the information content of a given measurement about the average concentration distribution with respect to the point of measurement. In this paper, we present an extension which can consider the uncertainty about the robot’s position in the gas distribution mapping. We present a preliminary result where a mobile robot equipped with gas sensors creates a map of a large indoor environment, using both spatial and olfactory information.
Paper: [PDF (1.0MB)]
Presentation: [PDF (14.1MB)]
  AUTHOR = {Lilienthal, Achim~J. and Loutfi, Amy and Blanco, Jose Luis and Galindo, Cipriano and Gonzalez, Javier},
  TITLE = {Integrating SLAM into Gas Distribution Mapping},
  BOOKTITLE = {Proceedings of ICRA Workshop on Robotic Olfaction – Towards Real Applications},
  YEAR = {2007},
  MONTH = {April 10 -- 14},
  ADRESS = {Rome, Italy},
  PAGES = {21--28}