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• A real-time gas distribution mapping method, called GW-GMRF, is proposed. • This method estimates simultaneously a gas and a wind map for unexplored areas. • Each gas map has an associated uncertainty. • Very few observations can lead to reliable and accurate estimates. • Several experiments and comparisons with other methods are presented. This work addresses 2D gas and wind distribution mapping with a mobile robot for real-time applications. Our proposal seeks to estimate how gases released in the environment are distributed from a set of sparse and uncertain gas-concentration and wind-flow measurements; such that by exploiting the high correlation between these two magnitudes we may extrapolate their value for unexplored areas. Furthermore, because the air currents are completely conditioned by the environment, we assume a priori knowledge of static elements such as walls and obstacles when estimating both distribution maps. In particular, this joint estimation problem is modeled as a multivariate Gaussian Markov random field (GMRF), combining gas and wind observations under a common maximum a posteriori estimation problem. It considers two lattices of cells (a scalar gas-concentration field and a wind vector field) which are correlated following the physical laws of gas dispersal and fluid dynamics. Finally, we report various experiments in which our proposal is compared to other stochastic gas and gas-wind modeling methods under simulation, to evaluate their performance against a computer fluid-dynamics generated ground-truth, as well as under real and uncontrolled conditions. [ABSTRACT FROM AUTHOR]

This work presents a simulation framework developed under the widely used Robot Operating System (ROS) to enable the validation of robotics systems and gas sensing algorithms under realistic environments. The framework is rooted in the principles of computational fluid dynamics and filament dispersion theory, modeling wind flow and gas dispersion in 3D real-world scenarios (i.e., accounting for walls, furniture, etc.). Moreover, it integrates the simulation of different environmental sensors, such as metal oxide gas sensors, photo ionization detectors, or anemometers. We illustrate the potential and applicability of the proposed tool by presenting a simulation case in a complex and realistic office-like environment where gas leaks of different chemicals occur simultaneously. Furthermore, we accomplish quantitative and qualitative validation by comparing our simulated results against real-world data recorded inside a wind tunnel where methane was released under different wind flow profiles. Based on these results, we conclude that our simulation framework can provide a good approximation to real world measurements when advective airflows are present in the environment. [ABSTRACT FROM AUTHOR]

The simulation of how a gas disperses in a environment is a necessary asset for the development of olfaction-based autonomous agents. A variety of simulators already exist for this purpose, but none of them allows for a sufficiently convenient integration with other types of sensing (such as vision), which hinders the development of advanced, multi-sensor olfactory robotics applications. In this work, we present a framework for the simulation of gas dispersal and sensing alongside vision by integrating GADEN, a state-of-the-art Gas Dispersion Simulator, with the Unity 3D, a video game development engine that is used in many different areas of research and helps with the creation of visually realistic, complex environments. We discuss the motivation for the development of this tool, describe its characteristics, and present some potential use cases that are based on cutting-edge research in the field of olfactory robotics. [ABSTRACT FROM AUTHOR]