This framework demonstrates exploration and navigation behaviors using sensor fusion and gas sensors in robotics.
This repository contains the software and configuration for a bio-inspired robotic navigation system, tracking the principles of path integration and goal-seeking behavior across species. The framework implements a two-tiered architecture: High-Level Control: ROS 2 Humble running on Jetson Orin Nano for sensor fusion (LiDAR, RGB-D Camera, IMU) and SLAM. Low-Level Control: Arduino Nano for real-time motor control and gas sensor (olfactory) integration. The system features autonomous behaviors inspired by animal navigation, including exploration, plume tracking, and vision-based target approach, demonstrated in both simulated and real-world environments.
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Sheikder et al. (2026) studied this question.
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