Localizing vapor-emitting sources by moving sensors

In a previous paper, the authors have explored the use of novel concentration sensors for detecting and localizing vapor-emitting sources. As was shown there, an array of sensors (at least five) is needed for this purpose in general. In the present paper we propose to replace stationary sensors by moving sensors, thus gaining two important advantages. (1) A single moving sensor can accomplish the task of an array of stationary sensors, by exploiting spatial and temporal diversity. (2) The sensor motion can be planned in real time to optimize localization. Performance, based on past measurements and minimization of the expected localization error as a function of the future sensor´s position. The paper describes the details of this approach and illustrates it by an example