Towards Odor-Sensitive Mobile Robots

Towards Odor-Sensitive Mobile Robots

Javier Monroy, Javier Gonzalez-Jimenez
Copyright: © 2018 |Pages: 20
DOI: 10.4018/978-1-5225-3862-2.ch012
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Out of all the components of a mobile robot, its sensorial system is undoubtedly among the most critical ones when operating in real environments. Until now, these sensorial systems mostly relied on range sensors (laser scanner, sonar, active triangulation) and cameras. While electronic noses have barely been employed, they can provide a complementary sensory information, vital for some applications, as with humans. This chapter analyzes the motivation of providing a robot with gas-sensing capabilities and also reviews some of the hurdles that are preventing smell from achieving the importance of other sensing modalities in robotics. The achievements made so far are reviewed to illustrate the current status on the three main fields within robotics olfaction: the classification of volatile substances, the spatial estimation of the gas dispersion from sparse measurements, and the localization of the gas source within a known environment.
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Specific Challenges Of Gas-Sensitive Mobile Robots

The development of mobile robot olfaction systems is not a trivial problem, and despite recent achievements, the potential of gas-sensitive mobile robots has yet to be fully realized. Besides the inherent complexity of artificial olfaction, new difficulties emerge when performing olfaction with a mobile robot. In this section, a review of the main issues and technical solutions proposed so far is presented.

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