A Simulation Framework for the Integration of Artificial Olfaction into Multi-Sensor Mobile Robots.

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.