Robohub.org
 

Finding outdoor odor sources using particle filters

by
05 April 2011



share this:

Robots with smell could be used to find sources of toxic gas, search for drugs, locate survivors under rubble or hidden mines. Robots have an advantage over sniffer dogs since they can enter dangerous areas and could potentially be deployed rapidly and at lower costs.

Most of the work on olfaction robots is done in controlled laboratory environments. Instead, Li et al. are looking at how robots can localize odor sources in outdoor environments with changing wind that can be turbulent and strong. To do this, they’ve developed a novel algorithm based on particle filters that tracks the location of the odor source over time.

Experiments were done using a two-wheeled robot equipped with a gas sensor, an anemometer (for wind measurements) and an electronic compass. The robot was placed in an outdoor 10 m × 10 m area and was asked to search for a humidifier containing liquid ethanol (odor source). To find the gas plume, the robot would perform spirals. As soon as gas was sensed, the robot followed a plume-tracing strategy to collect more information about the odor source. The videos below show the robot behavior (top) and the particle filter algorithm used (bottom).

Results show that the particle filter method is suitable for challenging outdoor odor source localization and that it outperforms Bayesian-inference-based methods.




Sabine Hauert is President of Robohub and Associate Professor at the Bristol Robotics Laboratory
Sabine Hauert is President of Robohub and Associate Professor at the Bristol Robotics Laboratory





Related posts :



Sense Think Act Pocast: Erik Schluntz

In this episode, Audrow Nash interviews Erik Schluntz, co-founder and CTO of Cobalt Robotics, which makes a security guard robot. Erik speaks about how their robot handles elevators, how they have hum...
19 October 2021, by and

A robot that finds lost items

Researchers at MIT have created RFusion, a robotic arm with a camera and radio frequency (RF) antenna attached to its gripper, that fuses signals from the antenna with visual input from the camera to locate and retrieve an item, even if the item is buried under a pile and completely out of view.
18 October 2021, by

Robohub gets a fresh look

If you visited Robohub this week, you may have spotted a big change: how this blog looks now! On Tuesday (coinciding with Ada Lovelace Day and our ‘50 women in robotics that you need to know about‘ by chance), Robohub got a massive modernisation on its look by our technical director Ioannis K. Erripis and his team.
17 October 2021, by
ep.

339

podcast

High Capacity Ride Sharing, with Alex Wallar

In this episode, our interviewer Lilly speaks to Alex Wallar, co-founder and CTO of The Routing Company. Wallar shares his background in multi-robot path-planning and optimization, and his research on scheduling and routing algorithms for high-capacity ride-sharing. They discuss how The Routing Company helps cities meet the needs of their people, the technical ins and outs of their dispatcher and assignment system, and the importance of public transit to cities and their economics.
12 October 2021, by

50 women in robotics you need to know about 2021

It’s Ada Lovelace Day and once again we’re delighted to introduce you to “50 women in robotics you need to know about”! From the Afghanistan Girls Robotics Team to K.G.Engelhardt who in 1989 ...
12 October 2021, by and

Join the Women in Robotics Photo Challenge

How can women feel as if they belong in robotics if we can't see any pictures of women building or programming robots? The Civil Rights Activist Marian Wright Edelson aptly said, "You can't be what yo...
12 October 2021, by





©2021 - ROBOTS Association


 












©2021 - ROBOTS Association