Player/Stage simulation of olfactory experiments

This paper describes a Player/Stage simulation framework for mobile robot olfactory experiments. The PlumeSim framework simulates odor transport in the environment, as well as olfactory detection systems. The odor transport can be based on analytical theoretical models, data generated by dedicated computational fluid dynamics (CFD) software packages, or data acquired in a real environment. The framework is validated through comparison of the results of simulated and real mobile robot olfactory experiments.

[1]  Lino Marques,et al.  Mobile robot olfaction , 2006, Auton. Robots.

[2]  Tien-Fu Lu,et al.  A Simulation Framework for Plume-Tracing Research , 2008 .

[3]  Cheng-Hsin Chang,et al.  Computational Fluid Dynamics Simulation of Concentration Distributions from a Point Source in the Urban Street Canyons , 2006 .

[4]  Michael Beetz,et al.  Extending Player/Stage/Gazebo towards Cognitive Robots Acting in Ubiquitous Sensor-equipped Environments , 2007 .

[5]  P. J. Mason,et al.  Concentration fluctuation measurements in a dispersing plume at a range of up to 1000 m , 1991 .

[6]  J. Watson,et al.  The tin oxide gas sensor and its applications , 1984 .

[7]  Richard T. Vaughan,et al.  Really Reusable Robot Code and the Player/Stage Project , 2006 .

[8]  R. Andrew Russell,et al.  Robot Odor Localization: A Taxonomy and Survey , 2008, Int. J. Robotics Res..

[9]  N. Mole,et al.  Concentration fluctuation data from dispersion experiments carried out in stable and unstable conditions , 1994 .

[10]  H. Ishida,et al.  Plume-Tracking Robots: A New Application of Chemical Sensors , 2001, The Biological Bulletin.

[11]  L. Hemerik,et al.  Chemical communication: does odor plume shape matter? , 2007 .

[12]  Weeratunge Malalasekera,et al.  An introduction to computational fluid dynamics - the finite volume method , 2007 .

[13]  Lino Marques,et al.  Olfaction-based mobile robot navigation , 2002 .

[14]  Aaas News,et al.  Book Reviews , 1893, Buffalo Medical and Surgical Journal.

[15]  Richard T. Vaughan,et al.  The Player/Stage Project: Tools for Multi-Robot and Distributed Sensor Systems , 2003 .

[16]  J. Farrell,et al.  Filament-Based Atmospheric Dispersion Model to Achieve Short Time-Scale Structure of Odor Plumes , 2002 .

[17]  William M. Spears,et al.  Agent-Based Chemical Plume Tracing Using Fluid Dynamics , 2004, FAABS.

[18]  W. Marsden.  I and J , 2012 .

[19]  D. Birchall,et al.  Computational Fluid Dynamics , 2020, Radial Flow Turbocompressors.

[20]  Charles E Feigley,et al.  An investigation of air inlet velocity in simulating the dispersion of indoor contaminants via computational fluid dynamics. , 2002, The Annals of occupational hygiene.

[21]  Alcherio Martinoli,et al.  Tracking Odor Plumes in a Laminar Wind Field with Bio-inspired Algorithms , 2008, ISER.

[22]  Eugene Yee,et al.  Experimental Measurements of Concentration Fluctuations and Scales in a Dispersing Plume in the Atmospheric Surface Layer Obtained Using a Very Fast Response Concentration Detector , 1994 .

[23]  Richard T. Vaughan,et al.  Reusable Robot Software and the Player/Stage Project , 2005, PPSDR@ICRA.

[24]  Silvia Coradeschi,et al.  Gas distribution mapping of multiple odour sources using a mobile robot , 2009, Robotica.