Pith Number

pith:LTK2QIF5

pith:2026:LTK2QIF5UJ5ZKJ3HEMJJ3YKHFK

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Calibration-Free Gas Source Localization with Mobile Robots: Source Term Estimation Based on Concentration Measurement Ranking

Agatha Duranceau, Alcherio Martinoli, \.Izzet Ka\u{g}an Er\"unsal, Wanting Jin

Relative ranking of gas measurements lets robots localize sources without calibrating sensors.

arxiv:2605.13208 v1 · 2026-05-13 · cs.RO

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Claims

C1strongest claim

By comparing the rank differences between gathered and modeled values, we estimate the probabilistic distribution of source locations across the entire environment. We validate our approach in high-fidelity simulations and physical experiments, demonstrating consistent localization accuracy with uncalibrated gas sensors.

C2weakest assumption

That relative ranking of gas measurements within the dynamically accumulated dataset preserves enough information to distinguish source locations despite nonlinear sensor responses, environmental disturbances, and robot motion.

C3one line summary

A ranking-based algorithm enables calibration-free probabilistic gas source localization by matching relative orders of measured and modeled concentrations.

References

30 extracted · 30 resolved · 0 Pith anchors

[1] Recent Progress and Trend of Robot Odor Source Localization, 2021

[2] Bayesian inference for source determination with applications to a complex urban environment, 2007

[3] Adaptive Bayesian Sensor Motion Planning for Hazardous Source Term Recon- struction, 2017

[4] Gas Source Localization Using Physics-Guided Neural Networks, 2024

[5] Distributed multi-robot source term estimation with coverage control and information theoretic based coordination, 2024

Formal links

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Receipt and verification

First computed	2026-05-18T03:08:48.573467Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

5cd5a820bda27b95276723129de1472a9cd9ac8783d1c2d0fbf7a70463d76a3e

Aliases

arxiv: 2605.13208 · arxiv_version: 2605.13208v1 · doi: 10.48550/arxiv.2605.13208 · pith_short_12: LTK2QIF5UJ5Z · pith_short_16: LTK2QIF5UJ5ZKJ3H · pith_short_8: LTK2QIF5

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/LTK2QIF5UJ5ZKJ3HEMJJ3YKHFK \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 5cd5a820bda27b95276723129de1472a9cd9ac8783d1c2d0fbf7a70463d76a3e

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "17f9756d947e2bbd5b64f6f48a97e4bde418b5bc755e06923d4160a6535635e1",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2026-05-13T08:58:48Z",
    "title_canon_sha256": "9ca5e3df90524dcaf75b20e432e43d8353428552595369389184d1d246d965ff"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2605.13208",
    "kind": "arxiv",
    "version": 1
  }
}