Airborne Chemical Sensing with Mobile Robots

Abstract

Airborne chemical sensing with mobile robots has been an active research areasince the beginning of the 1990s. This article presents a review of research work in this field,including gas distribution mapping, trail guidance, and the different subtasks of gas sourcelocalisation. Due to the difficulty of modelling gas distribution in a real world environmentwith currently available simulation techniques, we focus largely on experimental work and donot consider publications that are purely based on simulations.

Keywords

• mobile robot olfaction
• gas distribution mapping
• trail guidance
• gas source localisation
• gas source tracing
• gas source declaration.