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mobile olfaction

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Gas distribution mapping of multiple odour sources using a mobile robot
Amy Loutfi, Silvia Coradeschi, Achim J. Lilienthal, Javier Gonzalez
Journal:

Robotica / Volume 27 / Issue 2 / March 2009

Published online by Cambridge University Press:

01 March 2009, pp. 311-319
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Mobile olfactory robots can be used in a number of relevant application areas where a better understanding of a gas distribution is needed, such as environmental monitoring and safety and security related fields. In this paper, we present a method to integrate the classification of odours together with gas distribution mapping. The resulting odour map is then correlated with the spatial information collected from a laser range scanner to form a combined map. Experiments are performed using a mobile robot in large and unmodified indoor and outdoor environments. Multiple odour sources are used and are identified using only transient information from the gas sensor response. The resulting multi-level map can be used as a representation of the collected odour data.