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GadenTools: A Toolkit for Testing and Simulating Robotic Olfaction Tasks with Jupyter Notebook Support

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ROBOT2022: Fifth Iberian Robotics Conference (ROBOT 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 590))

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Abstract

This work presents GadenTools, a toolkit designed to ease the development and integration of mobile robotic olfaction applications by enabling a convenient and user-friendly access to Gaden’s realistic gas dispersion simulations. It is based on an easy-to-use Python API, and includes an extensive tutorial developed with Jupyter Notebook and Google Colab technologies. A detailed set of examples illustrates aspects ranging from basic access to sensory data or the generation of ground-truth images, to the more advanced implementation of plume tracking algorithms, all in an online web-editor with no installation requirements. All the resources, including the source code, are made available in an online open repository.

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Notes

  1. 1.

    https://colab.research.google.com/drive/1Xj7rrsmeDa_dS3Ru_UIhhzlaifGH6GS4?usp=sharing.

  2. 2.

    https://github.com/MAPIRlab/GadenTools.

  3. 3.

    https://mapir.isa.uma.es/mapirwebsite/?p=1708.

  4. 4.

    https://github.com/jupyter/jupyter/wiki/Jupyter-kernels.

  5. 5.

    https://colab.research.google.com/.

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Acknowledgements

This work was funded by the research projects HOUNDBOT (P20_01302 and UMA20-FEDERJA-056), both funding by Andalusia Regional Government and the European Regional Development FundERDF and by the grant fpr the formation of pre-doctoral researchers in Andalusia (24653).

Author information

Authors and Affiliations

  1. Machine Perception and Intelligent Robotics Group (MAPIR-UMA), Malaga Institute for Mechatronics Engineering and Cyber-Physical Systems (IMECH.UMA), University of Malaga, Malaga, Spain

    Pepe Ojeda, Jose-Raul Ruiz-Sarmiento, Javier Monroy & Javier Gonzalez-Jimenez

Authors
  1. Pepe Ojeda
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  2. Jose-Raul Ruiz-Sarmiento
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  3. Javier Monroy
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  4. Javier Gonzalez-Jimenez
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Corresponding author

Correspondence to Pepe Ojeda .

Editor information

Editors and Affiliations

  1. Centro Universitario de la Defensa (CUD), Zaragoza, Spain

    Danilo Tardioli

  2. Grupo de Robótica, Universidad de León, León, Spain

    Vicente Matellán

  3. GRVC Robotics Lab, Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Guillermo Heredia

  4. School of Engineering, Polytechnic Institute of Porto, Porto, Portugal

    Manuel F. Silva

  5. Institute of Systems and Robotics, University of Coimbra, Coimbra, Portugal

    Lino Marques

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Ojeda, P., Ruiz-Sarmiento, JR., Monroy, J., Gonzalez-Jimenez, J. (2023). GadenTools: A Toolkit for Testing and Simulating Robotic Olfaction Tasks with Jupyter Notebook Support. In: Tardioli, D., Matellán, V., Heredia, G., Silva, M.F., Marques, L. (eds) ROBOT2022: Fifth Iberian Robotics Conference. ROBOT 2022. Lecture Notes in Networks and Systems, vol 590. Springer, Cham. https://doi.org/10.1007/978-3-031-21062-4_14

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  • DOI: https://doi.org/10.1007/978-3-031-21062-4_14

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