Airborne chemical sensing with mobile robots

Achim J. Lilienthal, Amy Loutfi, Tom Duckett

Research output: Contribution to journalArticlepeer-review

156 Scopus citations


Airborne chemical sensing with mobile robots has been an active research area since the beginning of the 1990s. This article presents a review of research work in this field, including gas distribution mapping, trail guidance, and the different subtasks of gas source localisation. Due to the difficulty of modelling gas distribution in a real world environment with currently available simulation techniques, we focus largely on experimental work and do not consider publications that are purely based on simulations.

Original languageEnglish
Pages (from-to)1616-1678
Number of pages63
JournalSensors (Switzerland)
Issue number11
StatePublished - Nov 2006
Externally publishedYes


  • Gas distribution mapping
  • Gas source declaration
  • Gas source localisation
  • Gas source tracing
  • Mobile robot olfaction
  • Trail guidance


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