Measuring Gas Concentration and Wind Intensity in a Turbulent Wind Tunnel with a Mobile Robot

Figure 4

(a) Robot semirandom exploration path (red line): the blue arrows depict the location and direction of the fans and the green circle depicts the location of the gas source. (b) Information layer showing the maximum gas intensity concentration measured. (c) Smoothed information layer showing of the maximum gas concentration measured. (d) Smoothed information layer showing the maximum wind intensity measured by the mobile robot.

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