Scalable Gas Sensing, Mapping, and Path Planning via Decentralized Hilbert Maps
This paper develops a decentralized approach to gas distribution mapping (GDM) and information-driven path planning for large-scale distributed sensing systems. Gas mapping is performed using a probabilistic representation known as a Hilbert map, which formulates the mapping problem as a multi-class...
Main Authors: | Zhu, Pingping, Ferrari, Silvia, Morelli, Julian, Linares, Richard, Doerr, Bryce |
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Other Authors: | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
Format: | Article |
Published: |
Multidisciplinary Digital Publishing Institute
2020
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Online Access: | https://hdl.handle.net/1721.1/125301 |
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