01CONTEXT
Autonomous Systems
2026 · GRADUATION PROJECT
PROJECT / 01
GPS-DENIED SYSTEM · AUTONOMOUS SYSTEMS
GPS-Denied Autonomous Gas Mapping
Autonomous exploration and gas-concentration mapping for GPS-denied indoor environments.
3 validation scenarios · autonomous return-home
02STACK
- ROS 2
- PX4
- MAVSDK
- Gazebo
- Python
03STATUS
Simulation-focused graduation project
Case study / 2026
01PROBLEM
Autonomy where GPS is unavailable.
Indoor environments can make GPS unavailable or unreliable. The project explores a software workflow in which an autonomous drone follows an indoor mission, samples gas concentration across the environment, records spatial measurements, and completes the mission with a return-home phase.
- GPS-denied
- Indoor autonomy
- Gas sensing
- Mission flow
02SYSTEM
Simulation, flight control and sensing in one workflow.
The implementation combines ROS 2 Humble, PX4 SITL, Gazebo Classic and MAVSDK. A simulated gas field exposes concentration measurements to the software stack, while mission logic coordinates the flight sequence and records gas samples for later analysis and visualization.
- ROS 2
- PX4
- MAVSDK
- Gazebo Classic
- Python
03IMPLEMENTATION
From autonomous mission execution to spatial gas data.
The project was developed as a set of focused software components for gas-field simulation, autonomous mission execution and result generation. The workflow records measurements during the indoor mission and produces structured outputs such as gas-sample CSV data and heat-map visualizations for analysis.
- GasFieldPlugin
- CSV
- Heat map
- Simulation
- Data pipeline
04VALIDATION
Three scenarios used to compare system behavior.
Validation was performed with no-gas, single-source and multi-source scenarios. Across the evaluated runs, the mission completed the planned room visits and return-home sequence while producing clearly different gas-concentration responses between scenarios.
- Scenario testing
- Repeatable simulation
- Return home
CASE EVIDENCE
Project evidence
MULTI-SOURCE
Four-source validation run
Four simulated gas sources create distinct concentration regions while the planned route crosses the indoor sampling area.
SINGLE-SOURCE
Localized source response
A single active source produces a localized concentration region that is captured along the simulated sampling route.
BASELINE
No-gas reference run
The no-gas scenario provides the baseline response used for comparison with the active-source validation runs.
04 / SCENARIO REVIEW
Validation results
No-gas baseline
Max Δ 0.136 ppm
Used as the baseline scenario to verify that the simulated environment remained close to background concentration without an active gas source.
Single-source
Max average 8.095 ppm
A single gas source produced a measurable concentration increase during the autonomous mission.
Multi-source
Max Δ 111.947 ppm
Multiple gas sources produced the strongest concentration difference among the evaluated scenarios.