Robot Odour Localisation in Enclosed and

Cluttered Environments Using Naïve Physics.

Multimedia Extensions CD

Supporting Videos

1. Conventional Reactive Odour Localisation Applied to an Enclosed Cluttered Environment

Video 1.1

RAT robot released from the same position as for trial B.

Video 1.2

RAT robot released from the same position as for trial E

2. General Version 2 Method

Video 2 [annotated, speed x ~5]

Scenario similar to O. Without ceiling for display purposes. Roma navigates the environment and then makes a prediction (prediction not shown).

3. Bimodal Search

Video 3.1 [annotated, speed x 4]
Scenario S. Roma performs general olfactive search followed by specific visual search.

Video 3.2 [speed x 4]
Scenario T. Roma performs general olfactive search followed by specific visual search.

4. Multiple Airflow Hypothesis Testing

Video 4 [annotated, speed x 4] (Full Quality Version)

Roma navigates the environment gathering evidence (and chemical readings) and modifying the confidence values for the set of hypotheses. Hypotheses, hypothesis tree, and GUI are shown.