Olfactory Inertial Odometry: Methodology for Effective Robot Navigation by Scent

• URL: http://arxiv.org/abs/2506.02373v1
• Date: Tue, 03 Jun 2025 02:21:12 GMT
• Title: Olfactory Inertial Odometry: Methodology for Effective Robot Navigation by Scent
• Authors: Kordel K. France, Ovidiu Daescu,
• Abstract summary: Olfactory navigation is one of the most primitive mechanisms of exploration used by organisms.<n>This work defines olfactory inertial odometry (OIO) to enable navigation by scent analogous to visual inertial odometry (VIO)<n>We demonstrate OIO with three different odour localization algorithms on a real 5-DoF robot arm over an odour-tracking scenario that resembles real applications in agriculture and food quality control.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Olfactory navigation is one of the most primitive mechanisms of exploration used by organisms. Navigation by machine olfaction (artificial smell) is a very difficult task to both simulate and solve. With this work, we define olfactory inertial odometry (OIO), a framework for using inertial kinematics, and fast-sampling olfaction sensors to enable navigation by scent analogous to visual inertial odometry (VIO). We establish how principles from SLAM and VIO can be extrapolated to olfaction to enable real-world robotic tasks. We demonstrate OIO with three different odour localization algorithms on a real 5-DoF robot arm over an odour-tracking scenario that resembles real applications in agriculture and food quality control. Our results indicate success in establishing a baseline framework for OIO from which other research in olfactory navigation can build, and we note performance enhancements that can be made to address more complex tasks in the future.

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