Autonomous source term estimation in unknown environments: From a dual control concept to UAV deployment

In the gas source search and localisation problem, the use of autonomous robots is of increasing interest due to their deployment speed and lack of human interaction with hazardous materials. This paper presents an aerial robotic platform for performing source term estimation of an unknown chemical release in a challenging a-priori unknown and GPS-denied environment. The proposed system forms the search strategy using the state-of-the-art control concept, dual control for exploitation and exploration, and realises such a function in the aforementioned challenging scenario using an RRT* based path planner with a downsampling process to accommodate the computation budget. The proposed algorithm is tested in a high fidelity simulation environment under a number of configurations, and compared against competing algorithms. The system architecture is also brought forward into a bespoke UAV platform and experimentally tested in real-world conditions. The proposed system is shown to be capable of performing source term estimation robustly and efficiently, which provides a step forward in showing the real world application of previously academic functions.