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Title: Information based mobile sensor planning for source term estimation of a non-continuous atmospheric release
Authors: Hutchinson, Michael
Liu, Cunjia
Chen, Wen-Hua
Issue Date: 2018
Publisher: IEEE
Citation: HUTCHINSON, M., LIU, C. and CHEN, W-H., 2018. Information based mobile sensor planning for source term estimation of a non-continuous atmospheric release. Presented at the International Conference on Robotics and Automation (ICRA 2018), Brisbane, Australia, 21-25th May, pp. 1 - 9.
Abstract: This paper presents a method to estimate the original location and the mass of an instantaneous release of hazardous material into the atmosphere. It is formulated as an inverse problem, where concentration observations from a mobile sensor are fused with meteorological information and a Gaussian puff dispersion model to characterise the source. Bayes’ theorem is used to estimate the parameters of the release taking into account the uncertainty that exists in the dispersion parameters and meteorological variables. An information based reward is used to guide an unmanned aerial vehicle equipped with a chemical sensor to the expected most informative measurement locations. Simulation results compare the performance between a single mobile sensor with various amounts of static sensors.
Description: Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Sponsor: This work was supported by the UK Engineering and Physical Sciences Research Council (EPSRC) and the Ministry of Defence (MOD) University Defence Research Collaboration in Signal Processing under the grant number EP/K014307/1.
Version: Accepted for publication
DOI: 10.1109/ICRA.2018.8460686
URI: https://dspace.lboro.ac.uk/2134/28377
Publisher Link: https://doi.org/10.1109/ICRA.2018.8460686
ISBN: 9781538630815
ISSN: 2577-087X
Appears in Collections:Conference Papers and Presentations (Aeronautical and Automotive Engineering)

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