Print Email Facebook Twitter GSL-Bench Title GSL-Bench: High Fidelity Gas Source Localization Benchmarking Author Erwich, Hajo (TU Delft Aerospace Engineering) Contributor de Croon, G.C.H.E. (mentor) Duisterhof, B.P. (graduation committee) Degree granting institution Delft University of Technology Programme Aerospace Engineering Date 2023-10-28 Abstract Gas Source Localization (GSL) is a challenging field of research within the robotics community. Existing methods vary widely and each has its own strengths and weaknesses. Existing GSL evaluations vary in environment size, wind conditions, and gas simulation fidelity, thereby complicating objective comparison between algorithms. They also lack photo-realistic rendering for the integration of obstacle avoidance. In this paper, we propose GSL-Bench, a benchmarking suite to evaluate the performance of GSL algorithms. GSL-Bench features high-fidelity graphics and gas simulation. Realism is further increased by simulating relevant gas and wind sensors. Scene generation is simplified with the introduction of AutoGDM+, capable of procedural environment generation, CFD and particle-based gas dispersion simulation. To illustrate GSL-Bench's capabilities, three algorithms are compared in six warehouse settings of increasing complexity: E. Coli, dung beetle and a random walker. Our results demonstrate GSL-Bench's ability to provide valuable insights into algorithm performance. Subject gas sensingbenchmarkingsimulationsource localizationgas dispersionodour souce localization To reference this document use: http://resolver.tudelft.nl/uuid:ab98e53a-5931-4b78-98ec-f0cb6df20986 Bibliographical note https://sites.google.com/view/gslbench/ Website providing additional results and instructions Part of collection Student theses Document type master thesis Rights © 2023 Hajo Erwich Files PDF Thesis_Hajo_Erwich.pdf 5.93 MB Close viewer /islandora/object/uuid:ab98e53a-5931-4b78-98ec-f0cb6df20986/datastream/OBJ/view