Amy Loutfi, Silvia Coradeschi, Achim J. Lilienthal and Javier Gonzalez
Gas Distribution Mapping of Multiple Odour Sources using a Mobile Robot
Robotica, Volume 27, Issue 2, 31 August 2009, pp. 311-319 (published online by Cambridge University Press 04 Jun 2008).
Abstract: 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.
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  AUTHOR = {Loutfi, Amy and Coradeschi, Silvia and Lilienthal, Achim J. and Gonzalez, Javier},
  TITLE = {Gas Distribution Mapping of Multiple Odour Sources using a Mobile Robot},
  JOURNAL = {Robotica},
  YEAR = {2009},
  MONTH = {June 4},
  VOLUME = {27},
  NUMBER = {2},
  PAGES = {311--319},
  KEYWORDS = {Mobile robots; Teleoperation; Mobile olfaction; Electronic nose; Gas mapping},
  URL = {}