This package contains the example code for performing intelligent search and source term estimation of an unknown airborne release. The framework is given in the diagram at below. It covers a series of algorithms developed by our reserach group in this subject area.
More details regarding the underlying algorithms can be found in the following references.
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Hutchinson, Michael, Cunjia Liu*, and Wen-Hua Chen. "Information-based search for an atmospheric release using a mobile robot: Algorithm and experiments." IEEE Transactions on Control Systems Technology 27, no. 6 (2018): 2388-2402.
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Hutchinson*, Michael, Cunjia Liu, and Wen‐Hua Chen. "Source term estimation of a hazardous airborne release using an unmanned aerial vehicle." Journal of Field Robotics 36, no. 4 (2019): 797-817.
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Hutchinson, Michael, Cunjia Liu*, Paul Thomas, and Wen-Hua Chen. "Unmanned aerial vehicle-based hazardous materials response: Information-theoretic hazardous source search and reconstruction." IEEE Robotics & Automation Magazine 27, no. 3 (2019): 108-119.
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Chen*, Wen-Hua, Callum Rhodes, and Cunjia Liu. "Dual control for exploitation and exploration (DCEE) in autonomous search." Automatica 133 (2021): 109851.
Note This example code aims to help people get familar with the working pricinples of informatin theoretic planning in the context of source term estimation. It does not serve to document the code used in these papers.