El proyecto se circunscribe al ámbito de la robotica olfativa, una línea emergente dentro de la robotica inteligente que persigue la integración del olfato artificial
en el sistema sensorial de un robot móvil para complementar su percepción del mundo físico y, con ello, poder mejorar y expandir sus prestaciones.
Específicamente, esta propuesta propone desarrollar nuevos métodos para que un robot móvil que opera en recintos reales, como edificios y plantas industriales, pueda construir mapas de concentración de gas y buscar la fuente desde donde emana el gas. La complejidad científico-técnica del proyecto surge de considerar escenarios realistas, con el menor número de simplificaciones posibles del problema, incluyendo: entornos con obstáculos, dispersión de gas con corrientes de convección y turbulencias, medidas de la e-nariz y anemómetro con ruido y retardos en la respuesta.
Además, se explotará toda la capacidad sensorial del robot, combinando las medidas olfativas con las de otros sensores embarcados en el, como cámaras o escáneres láser.
La investigación propuesta encuentra una utilidad clara en misiones de monitorización e inspección de emanaciones de gas por un robot, abarcando aplicaciones como detección de fugas de sustancias volátiles, el control de los niveles de concentración de gases tóxicos, la detección de explosivos, drogas o sustancias químicas en lugares públicos (aeropuertos, estaciones de ferrocarril,. . . ), entre otras.
REFERENCE: P20_01302
FUNDED BY: Junta de Andalucía
PERIOD: Octubre 2021 – Septiembre 2023
PRINCIPAL RESEARCHER: JAVIER GONZÁLEZ-JIMÉNEZ
INSTITUTION: University of Málaga
Publications in the scope of this project:
Journals (7)
2024
P. Ojeda, J. Monroy, J. Gonzalez-Jimenez
Robotic Gas Source Localization with Probabilistic Mapping and Online Dispersion Simulation
IEEE Transactions on Robotics (TRO), vol. 40, pp. 3551-3564, 2024. Q1 · T1
Web DOI BibTeX
@article{ojeda:24,
title = {Robotic Gas Source Localization with Probabilistic Mapping and Online Dispersion Simulation},
author = {Ojeda, Pepe and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://arxiv.org/abs/2304.08879},
doi = {10.1109/TRO.2024.3426368},
year = {2024},
date = {2024-01-01},
journal = {IEEE Transactions on Robotics (TRO)},
volume = {40},
pages = {3551-3564},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2023
A. Gongora, J. Monroy, F. Rahbar, C. Ercolani, J. Gonzalez-Jimenez, A. Martinoli
Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots
MDPI Sensors. Special Issue Robotics for Environment Sensing, vol. 23, no. 12, 2023. Q2 · T2
PDF DOI BibTeX
@article{gongora_etal_2023_igdm,
title = {Information-Driven Gas Distribution Mapping for Autonomous Mobile Robots},
author = {Gongora, Andres and Monroy, Javier and Rahbar, Faezeh and Ercolani, Chiara and Gonzalez-Jimenez, Javier and Martinoli, Alcherio},
url = {https://mapir.isa.uma.es/papersrepo/2023/2023_gongora_MDPI_Sensors_igdm.pdf},
doi = {10.3390/s23125387},
year = {2023},
date = {2023-06-01},
journal = {MDPI Sensors. Special Issue Robotics for Environment Sensing},
volume = {23},
number = {12},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
M. Garcia-Salguero, J. Gonzalez-Jimenez
Certifiable solver for real-time N-view triangulation
IEEE Robotics and Automation Letters, vol. 8, no. 4, pp. 1999-2005, 2023, ISSN: 2377-3766. Q2 · T1
PDF DOI BibTeX
@article{garciasalguero2023b,
title = {Certifiable solver for real-time N-view triangulation},
author = {Garcia-Salguero, Mercedes and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2023/2023_mercedes_RAL_Nview_triangulation_paper.pdf},
doi = {10.1109/LRA.2023.3245408},
issn = {2377-3766},
year = {2023},
date = {2023-04-01},
journal = {IEEE Robotics and Automation Letters},
volume = {8},
number = {4},
pages = {1999-2005},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
M. Garcia-Salguero, J. Gonzalez-Jimenez
Fast certifiable relative pose estimation with gravity prior
Artificial Intelligence, 2023. Q1 · T1
PDF DOI BibTeX
@article{garciasalguero2023,
title = {Fast certifiable relative pose estimation with gravity prior},
author = {Garcia-Salguero, Mercedes and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2023/2023_mercedes_AI_priorRPp_doc.pdf},
doi = {10.1016/j.artint.2023.103862},
year = {2023},
date = {2023-01-01},
journal = {Artificial Intelligence},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
P. Ojeda, J. Monroy, J. Gonzalez-Jimenez
VGR Dataset: A CFD-based Gas Dispersion Dataset for Mobile Robotic Olfaction
Journal of Intelligent & Robotic Systems, 2023. Q2 · T2
Web DOI BibTeX
@article{vgr_mro_dataset,
title = {VGR Dataset: A CFD-based Gas Dispersion Dataset for Mobile Robotic Olfaction},
author = {Ojeda, Pepe and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/?p=1708},
doi = {10.1007/s10846-023-02012-z},
year = {2023},
date = {2023-01-01},
journal = {Journal of Intelligent & Robotic Systems},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
2022
J.L. Matez-Bandera, J. Monroy, J. Gonzalez-Jimenez
Sigma-FP: Robot Mapping of 3D Floor Plans with an RGB-D Camera under Uncertainty
IEEE Robotics and Automation Letters, 2022. Q2 · T2
PDF DOI BibTeX
@article{matez2022_sigmafp,
title = {Sigma-FP: Robot Mapping of 3D Floor Plans with an RGB-D Camera under Uncertainty},
author = {Matez-Bandera, J. L and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2022/2022_matez_RAL_sigmaFP.pdf},
doi = {10.1109/LRA.2022.3220156},
year = {2022},
date = {2022-11-01},
journal = {IEEE Robotics and Automation Letters},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
J.L. Matez-Bandera, D. Fernandez-Chaves, J.R. Ruiz-Sarmiento, J. Monroy, N. Petkov, J. Gonzalez-Jimenez
LTC-Mapping, Enhancing Long-term Consistency of Object-oriented Semantic Maps in Robotics
MDPI Sensors, vol. 22, no. 14, 2022, ISSN: 1424-8220. Q2 · T2
PDF DOI BibTeX
@article{matez_mdpi_2022,
title = {LTC-Mapping, Enhancing Long-term Consistency of Object-oriented Semantic Maps in Robotics},
author = {Matez-Bandera, J. L and Fernandez-Chaves, David and Ruiz-Sarmiento, J. R. and Monroy, Javier and Petkov, Nicolai and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2022/2022_matez_LTCmapping.pdf},
doi = {10.3390/s22145308},
issn = {1424-8220},
year = {2022},
date = {2022-01-01},
journal = {MDPI Sensors},
volume = {22},
number = {14},
keywords = {},
pubstate = {published},
tppubtype = {article}
}
Conferences (4)
2023
J. Monroy, P. Ojeda, J. Gonzalez-Jimenez
A Feasibility Study of a Leader-Follower Multi-Robot Formation for TDLAS Assisted Methane Detection in Open Spaces
Iberian Robotics Conference (ROBOT), Coimbra (Portugal), 2023.
PDF DOI BibTeX
@inproceedings{monroy2023,
title = {A Feasibility Study of a Leader-Follower Multi-Robot Formation for TDLAS Assisted Methane Detection in Open Spaces},
author = {Monroy, Javier and Ojeda, Pepe and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2023/2023_monroy_ROBOT_TDLAS_Assisted_Methane.pdf},
doi = {10.1007/978-3-031-58676-7_15},
year = {2023},
date = {2023-11-01},
booktitle = {Iberian Robotics Conference (ROBOT)},
address = {Coimbra (Portugal)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
2022
P. Ojeda, J. Monroy, J. Gonzalez-Jimenez
Experimental Analysis of the Impact of Sensor Response Time on Robotic Gas Source Localization
ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), pp. 1-3, IEEE, Aveiro (Portugal), 2022.
PDF DOI BibTeX
@inproceedings{OjedaSensorResponseTime2022,
title = {Experimental Analysis of the Impact of Sensor Response Time on Robotic Gas Source Localization},
author = {Ojeda, Pepe and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2022/2022_ojeda_ISOEN_Impact_of_Sensor_Response_Time.pdf},
doi = {10.1109/ISOEN54820.2022.9789652},
year = {2022},
date = {2022-01-01},
booktitle = {ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN)},
pages = {1-3},
publisher = {IEEE},
address = {Aveiro (Portugal)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
P. Ojeda, J.R. Ruiz-Sarmiento, J. Monroy, J. Gonzalez-Jimenez
GadenTools: A Toolkit for Testing and Simulating Robotic Olfaction Tasks With Jupyter Notebook Support
Fifth Iberian Robotics Conference (ROBOT2022), Zaragoza, Spain, 2022.
PDF DOI BibTeX
@inproceedings{ojeda_robot2022_gadentools,
title = {GadenTools: A Toolkit for Testing and Simulating Robotic Olfaction Tasks With Jupyter Notebook Support},
author = {Ojeda, Pepe and Ruiz-Sarmiento, J. R. and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2022/2022_ojeda_ROBOT2022_GadenTools.pdf},
doi = {10.1007/978-3-031-21062-4_14},
year = {2022},
date = {2022-01-01},
booktitle = {Fifth Iberian Robotics Conference (ROBOT2022)},
address = {Zaragoza, Spain},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
P. Ojeda, J. Monroy, J. Gonzalez-Jimenez
On Gas Source Declaration Methods for Single-Robot Search
ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), pp. 1-3, IEEE, Aveiro (Portugal), 2022.
PDF DOI BibTeX
@inproceedings{OjedaSourceDeclaration2022,
title = {On Gas Source Declaration Methods for Single-Robot Search},
author = {Ojeda, Pepe and Monroy, Javier and Gonzalez-Jimenez, Javier},
url = {https://mapir.isa.uma.es/papersrepo/2022/2022_ojeda_ISOEN_Source_declaration.pdf},
doi = {10.1109/ISOEN54820.2022.9789673},
year = {2022},
date = {2022-01-01},
booktitle = {ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN)},
pages = {1-3},
publisher = {IEEE},
address = {Aveiro (Portugal)},
keywords = {},
pubstate = {published},
tppubtype = {inproceedings}
}
