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.