2023
DOI: 10.1109/taes.2022.3184923
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Receding Horizon-Based Infotaxis With Random Sampling for Source Search and Estimation in Complex Environments

Abstract: This paper proposes a receding horizon-based information-theoretic source search and estimation strategy for a mobile sensor in an urban environment in which an invisible harmful substance is released into the atmosphere. The mobile sensor estimates the source term including its location and release rate by using sensor observations based on Bayesian inference. The sampling-based sequential Monte Carlo method, particle filter, is employed to estimate the source term state in a highly nonlinear and stochastic s… Show more

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Cited by 5 publications
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