Player/Stage simulation of olfactory experiments

Abstract

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.