{"id":"https://openalex.org/W4401414724","doi":"https://doi.org/10.1109/icra57147.2024.10610755","title":"GSL-Bench: High Fidelity Gas Source Localization Benchmarking Tool","display_name":"GSL-Bench: High Fidelity Gas Source Localization Benchmarking Tool","publication_year":2024,"publication_date":"2024-05-13","ids":{"openalex":"https://openalex.org/W4401414724","doi":"https://doi.org/10.1109/icra57147.2024.10610755"},"language":"en","primary_location":{"id":"doi:10.1109/icra57147.2024.10610755","doi":"https://doi.org/10.1109/icra57147.2024.10610755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610755","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"volume":null,"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5106356535","display_name":"Hajo H. Erwich","orcid":null,"observed_orcids":[]},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Hajo H. Erwich","raw_affiliation_strings":["Delft University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology","institution_ids":["https://openalex.org/I98358874"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083362639","display_name":"Bardienus P. Duisterhof","orcid":"https://orcid.org/0000-0002-2797-4898","observed_orcids":["https://orcid.org/0000-0002-2797-4898"]},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Bardienus P. Duisterhof","raw_affiliation_strings":["Carnegie Mellon University"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5058902676","display_name":"Guido de Croon","orcid":"https://orcid.org/0000-0001-8265-1496","observed_orcids":["https://orcid.org/0000-0001-8265-1496"]},"institutions":[{"id":"https://openalex.org/I98358874","display_name":"Delft University of Technology","ror":"https://ror.org/02e2c7k09","country_code":"NL","type":"education","lineage":["https://openalex.org/I98358874"]}],"countries":["NL"],"is_corresponding":false,"raw_author_name":"Guido C.H.E. de Croon","raw_affiliation_strings":["Delft University of Technology"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Delft University of Technology","institution_ids":["https://openalex.org/I98358874"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.637,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.81961053,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"17672","last_page":"17678"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2451000064611435,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.2451000064611435,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.13379999995231628,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12321","display_name":"Insect Pheromone Research and Control","score":0.10760000348091125,"subfield":{"id":"https://openalex.org/subfields/1109","display_name":"Insect Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/gas-source-localization","display_name":"gas source localization","score":1.0},{"id":"https://openalex.org/keywords/benchmarking-tool","display_name":"benchmarking tool","score":0.9210000038146973},{"id":"https://openalex.org/keywords/search-and-rescue-robotics","display_name":"search and rescue robotics","score":0.8199999928474426},{"id":"https://openalex.org/keywords/computational-fluid-dynamics","display_name":"computational fluid dynamics","score":0.8880000114440918},{"id":"https://openalex.org/keywords/wind-simulation","display_name":"wind simulation","score":0.4819999933242798},{"id":"https://openalex.org/keywords/gas-sensors","display_name":"gas sensors","score":0.6179999709129333},{"id":"https://openalex.org/keywords/procedural-environment-generation","display_name":"procedural environment generation","score":0.8320000171661377},{"id":"https://openalex.org/keywords/obstacle-avoidance","display_name":"obstacle avoidance","score":0.7639999985694885},{"id":"https://openalex.org/keywords/warehouse-environments","display_name":"warehouse environments","score":0.7200000286102295},{"id":"https://openalex.org/keywords/algorithm-comparison","display_name":"algorithm comparison","score":0.41200000047683716},{"id":"https://openalex.org/keywords/nvidia-isaac-sim","display_name":"NVIDIA Isaac Sim","score":0.6990000009536743},{"id":"https://openalex.org/keywords/openfoam","display_name":"OpenFOAM","score":0.9900000095367432}],"concepts":[{"id":"https://openalex.org/C86251818","wikidata":"https://www.wikidata.org/wiki/Q816754","display_name":"Benchmarking","level":2,"score":0.83675616979599},{"id":"https://openalex.org/C2776459999","wikidata":"https://www.wikidata.org/wiki/Q2119376","display_name":"Fidelity","level":2,"score":0.6440187096595764},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5917875170707703},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.09663122892379761},{"id":"https://openalex.org/C144133560","wikidata":"https://www.wikidata.org/wiki/Q4830453","display_name":"Business","level":0,"score":0.0},{"id":"https://openalex.org/C162853370","wikidata":"https://www.wikidata.org/wiki/Q39809","display_name":"Marketing","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra57147.2024.10610755","doi":"https://doi.org/10.1109/icra57147.2024.10610755","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra57147.2024.10610755","pdf_url":null,"source":{"id":"https://openalex.org/S4210217939","display_name":"Proceedings - IEEE International Conference on Robotics and Automation/Proceedings","issn_l":"1050-4729","issn":["1050-4729","2577-087X"],"is_oa":false,"is_in_doaj":false,"is_core":true,"listed_in":["cwts-core","norway-1"],"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"study_designs":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1645798530","https://openalex.org/W1981075595","https://openalex.org/W1996476023","https://openalex.org/W2004643875","https://openalex.org/W2009441412","https://openalex.org/W2015415689","https://openalex.org/W2021245852","https://openalex.org/W2023673857","https://openalex.org/W2062044314","https://openalex.org/W2066936273","https://openalex.org/W2093912891","https://openalex.org/W2116336144","https://openalex.org/W2120084199","https://openalex.org/W2122883911","https://openalex.org/W2124535624","https://openalex.org/W2129724849","https://openalex.org/W2169565475","https://openalex.org/W2653160509","https://openalex.org/W2750707143","https://openalex.org/W2906829782","https://openalex.org/W2937534461","https://openalex.org/W2997474055","https://openalex.org/W3029029403","https://openalex.org/W3125606138","https://openalex.org/W3133248215","https://openalex.org/W3138239762","https://openalex.org/W3184384085","https://openalex.org/W4200442472","https://openalex.org/W4232697696","https://openalex.org/W4383108878","https://openalex.org/W4399801467"],"related_works":["https://openalex.org/W7028828342","https://openalex.org/W6981760188","https://openalex.org/W3126167901","https://openalex.org/W4383066454","https://openalex.org/W4400488172","https://openalex.org/W2062044314","https://openalex.org/W4313051845","https://openalex.org/W2552055836","https://openalex.org/W2734593405","https://openalex.org/W2069099350"],"abstract_inverted_index":{"Gas":[0],"Source":[1],"Localization":[2],"(GSL)":[3],"is":[4,107,119],"a":[5,40,77,157],"challenging":[6],"field":[7],"of":[8,30,39,68,85,124,127,149],"research":[9],"within":[10],"the":[11,37,66,83,122],"robotics":[12],"community,":[13],"with":[14,121],"high-stakes":[15],"search-and-rescue":[16],"applications.":[17],"Existing":[18,47],"methods":[19,32],"vary":[20,50],"widely":[21],"and":[22,27,43,56,93,99,114,132,156],"each":[23],"has":[24],"its":[25],"strengths":[26],"weaknesses.":[28],"Comparisons":[29],"different":[31],"are":[33,143],"limited":[34],"due":[35],"to":[36,165],"lack":[38,62],"broadly":[41],"adopted":[42],"standardized":[44],"testing":[45],"methodology.":[46],"GSL":[48,87],"evaluations":[49],"in":[51,145],"environment":[52,129],"size,":[53],"wind":[54,115],"conditions,":[55],"gas":[57,94,113,134],"simulation":[58],"fidelity.":[59],"They":[60],"also":[61],"photo-realistic":[63],"rendering":[64],"for":[65],"integration":[67],"obstacle":[69],"avoidance.":[70],"In":[71],"this":[72],"paper,":[73],"we":[74],"propose":[75],"GSL-Bench,":[76],"benchmarking":[78],"tool":[79],"that":[80],"can":[81],"evaluate":[82],"performance":[84],"existing":[86],"algorithms.":[88],"GSL-Bench":[89],"features":[90],"high-fidelity":[91],"graphics":[92],"simulation,":[95],"featuring":[96],"NVIDIA\u2019s\u00aeIsaac":[97],"Sim":[98],"OpenFOAM":[100],"computational":[101],"fluid":[102],"dynamics":[103],"software":[104],"(CFD).":[105],"Realism":[106],"further":[108],"increased":[109],"by":[110],"simulating":[111],"relevant":[112],"sensors.":[116],"Scene":[117],"generation":[118],"simplified":[120],"introduction":[123],"AutoGDM+,":[125],"capable":[126],"procedural":[128],"generation,":[130],"CFD":[131],"particle-based":[133],"dispersion":[135],"simulation.":[136],"To":[137],"illustrate":[138],"GSL-Bench\u2019s":[139,163],"capabilities,":[140],"three":[141],"algorithms":[142],"compared":[144],"six":[146],"warehouse":[147],"settings":[148],"increasing":[150],"complexity:":[151],"E.":[152],"Coli,":[153],"dung":[154],"beetle,":[155],"random":[158],"walker.":[159],"Our":[160],"results":[161],"demonstrate":[162],"ability":[164],"provide":[166],"valuable":[167],"insights":[168],"into":[169],"algorithm":[170],"performance.Site:":[171],"https://sites.google.com/view/gslbench/":[172]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1}],"updated_date":"2026-10-16T09:59:22.235173","created_date":"2024-08-09T00:00:00"}