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

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.