Autonomous source searchAutonomous search for the source location of an airbourne chemical dispersion is performed entirely onboard a UAV within a GPS denied environment. SLAM output from a stereo camera is fed into the flight controller and a 3D octomap is used for collision free navigation. Information theoretic path planning is developed to guide future sensing locations by taking into account the uncertainty of the particle filter that is recursively estimating the parameters of the chemical dispersion.
