Question Regarding Grid Representation and Traversable Area in Gas Source Localization #22
Description
Hello, Mr. Ojeda. Recently, I read your paper “Information-Driven Gas Source Localization Exploiting Gas and Wind Local Measurements for Autonomous Mobile Robots” published in IEEE Robotics and Automation Letters, and I found your work truly impressive and inspiring.
I have been trying to reproduce part of your approach, and during this process I encountered a few questions that I was hoping you might kindly clarify.
First, in your work, what method did you use to discretize the environment into a grid and visualize it in RViz? In particular, when dealing with environments containing obstacles or walls, how is the grid representation constructed only over the traversable areas?
Second, how do you determine which areas are considered traversable in the environment? For example, is this based on a prior map, occupancy grid, or some form of online perception?