Ojeda Pepe, Monroy Javier, Gonzalez-Jimenez Javier
Machine Perception and Intelligent Robotics Group, System Engineering and Automation Department, Biomedical Research Institute of Málaga (IBIMA), Campus de Teatinos, University of Málaga, 29071 Málaga, Spain.
Sensors (Basel). 2021 Mar 14;21(6):2041. doi: 10.3390/s21062041.
The simulation of how a gas disperses in a environment is a necessary asset for the development of olfaction-based autonomous agents. A variety of simulators already exist for this purpose, but none of them allows for a sufficiently convenient integration with other types of sensing (such as vision), which hinders the development of advanced, multi-sensor olfactory robotics applications. In this work, we present a framework for the simulation of gas dispersal and sensing alongside vision by integrating GADEN, a state-of-the-art Gas Dispersion Simulator, with the Unity 3D, a video game development engine that is used in many different areas of research and helps with the creation of visually realistic, complex environments. We discuss the motivation for the development of this tool, describe its characteristics, and present some potential use cases that are based on cutting-edge research in the field of olfactory robotics.
模拟气体在环境中的扩散情况，对于基于嗅觉的自主智能体的开发来说是一项必要的能力。为此已经存在多种模拟器，但它们都无法与其他类型的传感（如视觉）实现足够便捷的集成，这阻碍了先进的多传感器嗅觉机器人应用的发展。在这项工作中，我们通过将最先进的气体扩散模拟器GADEN与Unity 3D（一款在许多不同研究领域中使用的视频游戏开发引擎，有助于创建视觉上逼真的复杂环境）集成，提出了一个用于模拟气体扩散以及与视觉一起进行传感的框架。我们讨论了开发此工具的动机，描述了其特性，并展示了一些基于嗅觉机器人领域前沿研究的潜在应用案例。
