IEEE Robotics & Automation Magazine - September 2020 - 115

shown by the heat map, is accurate with more spread
along the wind axis, which is a common feature of STE
algorithms. The sizes of the white dots represent the
strength of measurements from the PID sensor. The challenge posed by large amounts of noise and intermittency
in the sensor measurements is demonstrated in all of Figure 4(a)-(c), where on several occasions there was no
response from the PID detector downwind of the source.
Figure 4(d)-(f) shows the probability density estimate of
the emission rate of the source, p (q s | z 1: k) . As shown, the
true value of the emission rate typically falls within a
standard deviation of the estimate.
The results of 10 trials using the information-theoretic
algorithm are summarized in Table 1, including information
about the source location estimates, emission estimates, and
some flight data. Overall, the Euclidean error is small given
the scale of the experiments; moreover, it is small given the
severe amount of uncertainty in the dispersion process and
even some uncertainty in the localization of the UAV itself.
The emission estimates from the algorithm were encouraging,
with errors typically within 1 g/s.

Start Position
UAV Path
Current Position
Measurements
Miss Detections
Estimates
Source Position

The results of the information-theoretic experiments are
compared with the uniform sweep results from the authors'
previous work in [2].
The uniform sweep re--
It is expected that a longer
sults are restricted to
where the IP model was
sampling time while taking
used and where the scale
of the experiments was
atmospheric concentration
similar to that used in
the information-theomeasurements would
retic trials. The average
search time, source posiimprove the emission
tion estimate root-meansquare error (RMSE), and
rate estimate for both
source emission rate
RMSE using both methapproaches.
ods are shown in Table 2.
Overall, in agreement
with the simulations
conducted in [3], the information-theoretic search algorithm
attained more accurate source position estimates and a

Start Position
UAV Path
Current Position
Measurements
Miss Detections
Estimates
Mean Estimate
Source Position

Wind
Direction

Wind
Direction

(a)

(b)
Start Position
UAV Path
Current Position
Measurements
Miss Detections
Estimates
Mean Estimate
Source Position

Start Position
UAV Path
Current Position
Measurements
Miss Detections
Estimates
Mean Estimate
Source Position

Wind
Direction

Wind
Direction

(c)

(d)

Figure 3. An example run of the information-theoretic search algorithm at discrete time steps. Estimates at (a) k = 0, (b) k = 7, (c) k = 16,
and (d) k = 29.

SEPTEMBER 2020

*

IEEE ROBOTICS & AUTOMATION MAGAZINE

*

115



IEEE Robotics & Automation Magazine - September 2020

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2020

IEEE Robotics & Automation Magazine - September 2020 - Cover1
IEEE Robotics & Automation Magazine - September 2020 - Cover2
IEEE Robotics & Automation Magazine - September 2020 - 1
IEEE Robotics & Automation Magazine - September 2020 - 2
IEEE Robotics & Automation Magazine - September 2020 - 3
IEEE Robotics & Automation Magazine - September 2020 - 4
IEEE Robotics & Automation Magazine - September 2020 - 5
IEEE Robotics & Automation Magazine - September 2020 - 6
IEEE Robotics & Automation Magazine - September 2020 - 7
IEEE Robotics & Automation Magazine - September 2020 - 8
IEEE Robotics & Automation Magazine - September 2020 - 9
IEEE Robotics & Automation Magazine - September 2020 - 10
IEEE Robotics & Automation Magazine - September 2020 - 11
IEEE Robotics & Automation Magazine - September 2020 - 12
IEEE Robotics & Automation Magazine - September 2020 - 13
IEEE Robotics & Automation Magazine - September 2020 - 14
IEEE Robotics & Automation Magazine - September 2020 - 15
IEEE Robotics & Automation Magazine - September 2020 - 16
IEEE Robotics & Automation Magazine - September 2020 - 17
IEEE Robotics & Automation Magazine - September 2020 - 18
IEEE Robotics & Automation Magazine - September 2020 - 19
IEEE Robotics & Automation Magazine - September 2020 - 20
IEEE Robotics & Automation Magazine - September 2020 - 21
IEEE Robotics & Automation Magazine - September 2020 - 22
IEEE Robotics & Automation Magazine - September 2020 - 23
IEEE Robotics & Automation Magazine - September 2020 - 24
IEEE Robotics & Automation Magazine - September 2020 - 25
IEEE Robotics & Automation Magazine - September 2020 - 26
IEEE Robotics & Automation Magazine - September 2020 - 27
IEEE Robotics & Automation Magazine - September 2020 - 28
IEEE Robotics & Automation Magazine - September 2020 - 29
IEEE Robotics & Automation Magazine - September 2020 - 30
IEEE Robotics & Automation Magazine - September 2020 - 31
IEEE Robotics & Automation Magazine - September 2020 - 32
IEEE Robotics & Automation Magazine - September 2020 - 33
IEEE Robotics & Automation Magazine - September 2020 - 34
IEEE Robotics & Automation Magazine - September 2020 - 35
IEEE Robotics & Automation Magazine - September 2020 - 36
IEEE Robotics & Automation Magazine - September 2020 - 37
IEEE Robotics & Automation Magazine - September 2020 - 38
IEEE Robotics & Automation Magazine - September 2020 - 39
IEEE Robotics & Automation Magazine - September 2020 - 40
IEEE Robotics & Automation Magazine - September 2020 - 41
IEEE Robotics & Automation Magazine - September 2020 - 42
IEEE Robotics & Automation Magazine - September 2020 - 43
IEEE Robotics & Automation Magazine - September 2020 - 44
IEEE Robotics & Automation Magazine - September 2020 - 45
IEEE Robotics & Automation Magazine - September 2020 - 46
IEEE Robotics & Automation Magazine - September 2020 - 47
IEEE Robotics & Automation Magazine - September 2020 - 48
IEEE Robotics & Automation Magazine - September 2020 - 49
IEEE Robotics & Automation Magazine - September 2020 - 50
IEEE Robotics & Automation Magazine - September 2020 - 51
IEEE Robotics & Automation Magazine - September 2020 - 52
IEEE Robotics & Automation Magazine - September 2020 - 53
IEEE Robotics & Automation Magazine - September 2020 - 54
IEEE Robotics & Automation Magazine - September 2020 - 55
IEEE Robotics & Automation Magazine - September 2020 - 56
IEEE Robotics & Automation Magazine - September 2020 - 57
IEEE Robotics & Automation Magazine - September 2020 - 58
IEEE Robotics & Automation Magazine - September 2020 - 59
IEEE Robotics & Automation Magazine - September 2020 - 60
IEEE Robotics & Automation Magazine - September 2020 - 61
IEEE Robotics & Automation Magazine - September 2020 - 62
IEEE Robotics & Automation Magazine - September 2020 - 63
IEEE Robotics & Automation Magazine - September 2020 - 64
IEEE Robotics & Automation Magazine - September 2020 - 65
IEEE Robotics & Automation Magazine - September 2020 - 66
IEEE Robotics & Automation Magazine - September 2020 - 67
IEEE Robotics & Automation Magazine - September 2020 - 68
IEEE Robotics & Automation Magazine - September 2020 - 69
IEEE Robotics & Automation Magazine - September 2020 - 70
IEEE Robotics & Automation Magazine - September 2020 - 71
IEEE Robotics & Automation Magazine - September 2020 - 72
IEEE Robotics & Automation Magazine - September 2020 - 73
IEEE Robotics & Automation Magazine - September 2020 - 74
IEEE Robotics & Automation Magazine - September 2020 - 75
IEEE Robotics & Automation Magazine - September 2020 - 76
IEEE Robotics & Automation Magazine - September 2020 - 77
IEEE Robotics & Automation Magazine - September 2020 - 78
IEEE Robotics & Automation Magazine - September 2020 - 79
IEEE Robotics & Automation Magazine - September 2020 - 80
IEEE Robotics & Automation Magazine - September 2020 - 81
IEEE Robotics & Automation Magazine - September 2020 - 82
IEEE Robotics & Automation Magazine - September 2020 - 83
IEEE Robotics & Automation Magazine - September 2020 - 84
IEEE Robotics & Automation Magazine - September 2020 - 85
IEEE Robotics & Automation Magazine - September 2020 - 86
IEEE Robotics & Automation Magazine - September 2020 - 87
IEEE Robotics & Automation Magazine - September 2020 - 88
IEEE Robotics & Automation Magazine - September 2020 - 89
IEEE Robotics & Automation Magazine - September 2020 - 90
IEEE Robotics & Automation Magazine - September 2020 - 91
IEEE Robotics & Automation Magazine - September 2020 - 92
IEEE Robotics & Automation Magazine - September 2020 - 93
IEEE Robotics & Automation Magazine - September 2020 - 94
IEEE Robotics & Automation Magazine - September 2020 - 95
IEEE Robotics & Automation Magazine - September 2020 - 96
IEEE Robotics & Automation Magazine - September 2020 - 97
IEEE Robotics & Automation Magazine - September 2020 - 98
IEEE Robotics & Automation Magazine - September 2020 - 99
IEEE Robotics & Automation Magazine - September 2020 - 100
IEEE Robotics & Automation Magazine - September 2020 - 101
IEEE Robotics & Automation Magazine - September 2020 - 102
IEEE Robotics & Automation Magazine - September 2020 - 103
IEEE Robotics & Automation Magazine - September 2020 - 104
IEEE Robotics & Automation Magazine - September 2020 - 105
IEEE Robotics & Automation Magazine - September 2020 - 106
IEEE Robotics & Automation Magazine - September 2020 - 107
IEEE Robotics & Automation Magazine - September 2020 - 108
IEEE Robotics & Automation Magazine - September 2020 - 109
IEEE Robotics & Automation Magazine - September 2020 - 110
IEEE Robotics & Automation Magazine - September 2020 - 111
IEEE Robotics & Automation Magazine - September 2020 - 112
IEEE Robotics & Automation Magazine - September 2020 - 113
IEEE Robotics & Automation Magazine - September 2020 - 114
IEEE Robotics & Automation Magazine - September 2020 - 115
IEEE Robotics & Automation Magazine - September 2020 - 116
IEEE Robotics & Automation Magazine - September 2020 - 117
IEEE Robotics & Automation Magazine - September 2020 - 118
IEEE Robotics & Automation Magazine - September 2020 - 119
IEEE Robotics & Automation Magazine - September 2020 - 120
IEEE Robotics & Automation Magazine - September 2020 - 121
IEEE Robotics & Automation Magazine - September 2020 - 122
IEEE Robotics & Automation Magazine - September 2020 - 123
IEEE Robotics & Automation Magazine - September 2020 - 124
IEEE Robotics & Automation Magazine - September 2020 - 125
IEEE Robotics & Automation Magazine - September 2020 - 126
IEEE Robotics & Automation Magazine - September 2020 - 127
IEEE Robotics & Automation Magazine - September 2020 - 128
IEEE Robotics & Automation Magazine - September 2020 - 129
IEEE Robotics & Automation Magazine - September 2020 - 130
IEEE Robotics & Automation Magazine - September 2020 - 131
IEEE Robotics & Automation Magazine - September 2020 - 132
IEEE Robotics & Automation Magazine - September 2020 - 133
IEEE Robotics & Automation Magazine - September 2020 - 134
IEEE Robotics & Automation Magazine - September 2020 - 135
IEEE Robotics & Automation Magazine - September 2020 - 136
IEEE Robotics & Automation Magazine - September 2020 - 137
IEEE Robotics & Automation Magazine - September 2020 - 138
IEEE Robotics & Automation Magazine - September 2020 - 139
IEEE Robotics & Automation Magazine - September 2020 - 140
IEEE Robotics & Automation Magazine - September 2020 - 141
IEEE Robotics & Automation Magazine - September 2020 - 142
IEEE Robotics & Automation Magazine - September 2020 - 143
IEEE Robotics & Automation Magazine - September 2020 - 144
IEEE Robotics & Automation Magazine - September 2020 - 145
IEEE Robotics & Automation Magazine - September 2020 - 146
IEEE Robotics & Automation Magazine - September 2020 - 147
IEEE Robotics & Automation Magazine - September 2020 - 148
IEEE Robotics & Automation Magazine - September 2020 - 149
IEEE Robotics & Automation Magazine - September 2020 - 150
IEEE Robotics & Automation Magazine - September 2020 - 151
IEEE Robotics & Automation Magazine - September 2020 - 152
IEEE Robotics & Automation Magazine - September 2020 - 153
IEEE Robotics & Automation Magazine - September 2020 - 154
IEEE Robotics & Automation Magazine - September 2020 - 155
IEEE Robotics & Automation Magazine - September 2020 - 156
IEEE Robotics & Automation Magazine - September 2020 - Cover3
IEEE Robotics & Automation Magazine - September 2020 - Cover4
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2023
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2022
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2021
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2020
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2019
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2018
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2017
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2016
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2015
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2014
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2013
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2012
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_june2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_march2011
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_december2010
https://www.nxtbook.com/nxtbooks/ieee/roboticsautomation_september2010
https://www.nxtbookmedia.com