Improving the robustness of Na?ve Physics airflow mapping, using Bayesian reasoning on a multiple hypothesis tree

Previous work on odour localisation in enclosed environments, relying on an airflow model, has faced significant limitations due to the fact that large differences between airflow topologies are predicted for only small variations in a physical map. This is due to uncertainties in the map and approximations in the modelling process. Furthermore, there are uncertainties regarding the flow direction through inlet/outlet ducts. We have presented a method for dealing with these uncertainties, by generating multiple airflow hypotheses. As the robot performs odour localisation, airflow in the environment is measured and used to adjust the confidences of the hypotheses using Bayesian inference. The best hypothesis is then selected, which allows the completion of the localisation task. We have shown experimentally that this method is capable of improving the robustness of our method for odour localisation in the presence of uncertainties, where previously it was incapable. The results further demonstrate the usefulness of Naı̈ve Physicsfor practical robotics applications.