Development of a Mobile Robot with Olfactory Capability
(Jan’09–Mar’14)
Regional Project

This project addresses the problem of providing a mobile robot with olfaction capability to recognize and estimate odor concentrations in the environment. This information, combined with that provided by other sensors (cameras, laser scanner, etc..) will be used in robot navigation and operation tasks in applications such as monitoring and controlling of abnormal levels of gas contaminants, gas leak detection, searching gas emission sources, studying distribution of gaseous substances, etc.

To this aim, we investigate aspects such as the creation of gas concentration maps, strategies to explore the environment based on detected odors, as well as the design and implementation of a specific control architecture which integrates olfactory information. This project is being carried out in collaboration with the Center for Applied Autonomous Sensor Systems at the Orebro’s University (Sweden).

REFERENCE: 2008-TEP-4016 
TITLE: MOBILE ROBOT OLFACTION
PRINCIPAL RESEARCHER:JAVIER GONZÁLEZ-JIMÉNEZ
INSTITUTION: UNIVERSITY OF MÁLAGA
FUNDER: ANDALUCÍA REGIONAL GOVERNMENT
PERIOD: January 2009 – March 2014 (Project has finished)
DEPARTMENT: SYSTEM ENGINEERING AND AUTOMATION

Publications

Publications in the scope of this project:

Journals (5)

2016

F.M. Schleif, B. Hammer, J. Monroy, J. Gonzalez-Jimenez, J.L. Blanco, M. Biehl, N. Petkov

Odor recognition in robotics applications by discriminative time-series modeling

Pattern Analysis and Applications, vol. 19, no. 1, pp. 207–220, 2016, ISSN: 1433-755X. Q3 · T2

J. Monroy, J.L. Blanco, J. Gonzalez-Jimenez

Time-Variant Gas Distribution Mapping with Obstacle Information

Autonomous Robots, vol. 40, no. 1, pp. 1–16, 2016, ISSN: 1573-7527. Q2 · T2

2013

J. Monroy, A. Lilienthal, J.L. Blanco, J. Gonzalez-Jimenez, M. Trincavelli

Probabilistic Gas Quantification with MOX Sensors in Open Sampling Systems - A Gaussian Process Approach

Sensors and Actuators B: Chemical, vol. 188, no. 0, pp. 298–312, 2013, ISSN: 0925-4005. Q1 · T1

2012

J. Monroy, J. Gonzalez-Jimenez, J.L. Blanco

Overcoming the slow recovery of MOX gas sensors through a system modeling approach

Sensors, vol. 12, no. 10, pp. 13664–13680, 2012, ISSN: 1424-8220. Q1 · T1

2011

J. Gonzalez-Jimenez, J. Monroy, J.L. Blanco

The Multi-Chamber Electronic Nose--An Improved Olfaction Sensor for Mobile Robotics

Sensors, vol. 11, no. 6, pp. 6145–6164, 2011, ISSN: 1424-8220. Q1 · T1

Conferences (10)

2015

J. Monroy, J. Gonzalez-Jimenez

Odor Classification in Motion: How Fast Can the E-nose Go?

16th International Symposium on Olfaction and Electronic Nose (ISOEN), Dijon, Burgundy, France, 2015.

J. Monroy, J. Gonzalez-Jimenez

Real-Time Odor Classification Through Sequential Bayesian Filtering

16th International Symposium on Olfaction and Electronic Nose (ISOEN), Dijon, Burgundy, France, 2015.

2014

C. Sánchez-Garrido, J. Monroy, J. Gonzalez-Jimenez

A Configurable Smart E-Nose for Spatio-Temporal Olfactory Analysis

IEEE Sensors, pp. 1968–1971, Valencia, Spain, 2014.

J. Monroy, J. Gonzalez-Jimenez, C. Sánchez-Garrido

Monitoring Household Garbage Odors in Urban Areas Through Distribution Maps

IEEE Sensors, pp. 1364–1367, Valencia, Spain, 2014.

2013

J.L. Blanco, J. Monroy, J. Gonzalez-Jimenez, A. Lilienthal

A Kalman Filter Based Approach to Probabilistic Gas Distribution Mapping

Proceedings of the 28th Annual ACM Symposium on Applied Computing, pp. 217–222, Coimbra, Portugal, 2013, ISBN: 978-1-4503-1656-9.

J. Monroy, J.L. Blanco, J. Gonzalez-Jimenez

An Open Source Framework for Simulating Mobile Robotics Olfaction (Abstract only)

15th International Symposium on Olfaction and Electronic Nose (ISOEN), Daegu, South Korea, 2013.

J. Gonzalez-Jimenez, J. Monroy, J.L. Blanco

Robots that can smell: motivation and problems (Abstract only)

15th International Symposium on Olfaction and Electronic Nose (ISOEN), Daegu, South Korea, 2013.

2012

J. Monroy, A. Lilienthal, J.L. Blanco, J. Gonzalez-Jimenez, M. Trincavelli

Calibration of MOX gas sensors in open sampling systems based on Gaussian Processes

IEEE Sensors, pp. 1–4, Taipei, Taiwan, 2012, ISSN: 1930-0395.

2011

J. Gonzalez-Jimenez, J. Monroy, F. García, J.L. Blanco

The Multi-Chamber Electronic Nose (MCE-nose)

IEEE International Conference on Mechatronics, Istambul, Turkey, 2011.

2010

J. Gonzalez-Jimenez, J. Monroy, F. García, J.L. Blanco

Design of a novel MOS-based electronic nose for changing gas concentrations (accepted)

1st INTERNATIONAL CONFERENCE ON APPLIED BIONICS AND BIOMECHANICS (ICABB 2010), Forthcoming.

Patents (1)

2012

J. Gonzalez-Jimenez, J. Monroy, J.L. Blanco, F. García

Nariz electrónica de alta frecuencia de sensado y procedimiento para determinar la composición cuantitativa y cualitativa de un gas o mezcla de gases mediante la misma

2012, (National Patent - ES2380472 A1).

PhD Theses (1)

2013

J. Monroy, J.L. Blanco, J. Gonzalez-Jimenez

Advances in Gas Sensing and Mapping for Mobile Robotics

PhD. in Electrical Engineering, University of Malaga, 2013.

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