Testing and Validation of Large Scale Collaborative Robotics Projects Lessons from the GUARDIANS experience
نویسندگان
چکیده
The article presents a benchmark (OlfMark) to evaluate the performance of mobile robot odour source localisation tasks. The problem of finding odour sources with mobile robots is introduced and a set of materials commonly employed in this task are described. The OlfMark represents a first step in order to define methodologies to run olfactory experiments and compare results obtained with different algorithms This benchmark uses a small-scale environment where obstacles, airflow and gas sources are controlled. The robot hardware is only constrained in terms of maximum dimensions. In principle any olfactory system can be employed, since the benchmark proposes to adapt the emission rate to the detectors sensitivity. The paper finishes with the procedure to calculate the performance of an odour source localisation task with the benchmark.
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