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This paper reports on a new method to search for a gas source. In the previous works on gas-source localization, robotic or human searchers were navigated using gas sensors and anemometers in order to track gas plumes and find their source locations. Instead, the proposed method provides a map showing the certainty of the gas-source location. In the proposed method, the area under consideration is...
A new approach to search for a gas/odor source using a mobile robot is presented. When the presence of gas is detected, the robot turns in the direction of the airflow that carries the gas, and looks for any suspicious object. Path planning is performed using a potential field method. Unlike the classical obstacle avoidance techniques, a Mexican-hat shaped potential field is formed around the visually...
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