The spread of contaminant into the environment due to a high volume of leakage from point sources is a very real threat in the modern world. Since the contaminant can often be dangerous to human operators, multiple robotic agents equipped with suitable sensors are playing an increasingly important role in the so-called contaminant detection problem than before. This paper proposes a contaminant detection methodology which can not only locate the (possibly multiple) source of the contaminant, but also estimate the intensity in an environment evolving over both space and time. The method can deal with measurement noise and does not need any gradient information.
|Number of pages||6|
|Journal||Proceedings of the IEEE Conference on Decision and Control|
|State||Published - 2014|
|Event||2014 53rd IEEE Annual Conference on Decision and Control, CDC 2014 - Los Angeles, United States|
Duration: Dec 15 2014 → Dec 17 2014