TY - GEN
T1 - Information Based Mobile Sensor Planning for Source Term Estimation of a Non-Continuous Atmospheric Release
AU - Hutchinson, Michael
AU - Liu, Cunjia
AU - Chen, Wen Hua
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/9/10
Y1 - 2018/9/10
N2 - Ahstract- 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.
AB - Ahstract- 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.
UR - http://www.scopus.com/inward/record.url?scp=85056910541&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2018.8460686
DO - 10.1109/ICRA.2018.8460686
M3 - Conference article published in proceeding or book
AN - SCOPUS:85056910541
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4342
EP - 4347
BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Y2 - 21 May 2018 through 25 May 2018
ER -