Gas concentration mapping and source localization for environmental monitoring through unmanned aerial systems using model-free reinforcement learning agents

• Main Authors: ul Husnain, Anees, Mokhtar, Norrima, Shah, Noraisyah Mohamed, Dahari, Mahidzal, Azmi, Amirul Asyhraff, Iwahashi, Masahiro
• Format: Article
• Published: Public Library of Science 2024
• Subjects: QA75 Electronic computers. Computer science; TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://eprints.um.edu.my/45569/; https://doi.org/10.1371/journal.pone.0296969

There are three primary objectives of this work; first: to establish a gas concentration map; second: to estimate the point of emission of the gas; and third: to generate a path from any location to the point of emission for UAVs or UGVs. A mountable array of MOX sensors was developed so that the an...