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class="vector-pinnable-header-toggle-button vector-pinnable-header-pin-button" data-event-name="pinnable-header.vector-appearance.pin">move to sidebar</button> <button class="vector-pinnable-header-toggle-button vector-pinnable-header-unpin-button" data-event-name="pinnable-header.vector-appearance.unpin">hide</button> </div> </div> </div> </nav> </div> </div> <div id="bodyContent" class="vector-body" aria-labelledby="firstHeading" data-mw-ve-target-container> <div class="vector-body-before-content"> <div class="mw-indicators"> </div> <div id="siteSub" class="noprint">From Wikipedia, the free encyclopedia</div> </div> <div id="contentSub"><div id="mw-content-subtitle"></div></div> <div id="mw-content-text" class="mw-body-content"><div class="mw-content-ltr mw-parser-output" lang="en" dir="ltr"><div class="shortdescription nomobile noexcerpt noprint searchaux" style="display:none">Prototype garbage-collection robot</div> <style data-mw-deduplicate="TemplateStyles:r1257001546">.mw-parser-output .infobox-subbox{padding:0;border:none;margin:-3px;width:auto;min-width:100%;font-size:100%;clear:none;float:none;background-color:transparent}.mw-parser-output .infobox-3cols-child{margin:auto}.mw-parser-output .infobox .navbar{font-size:100%}@media screen{html.skin-theme-clientpref-night .mw-parser-output .infobox-full-data:not(.notheme)>div:not(.notheme)[style]{background:#1f1f23!important;color:#f8f9fa}}@media screen and (prefers-color-scheme:dark){html.skin-theme-clientpref-os .mw-parser-output .infobox-full-data:not(.notheme) div:not(.notheme){background:#1f1f23!important;color:#f8f9fa}}@media(min-width:640px){body.skin--responsive .mw-parser-output .infobox-table{display:table!important}body.skin--responsive .mw-parser-output .infobox-table>caption{display:table-caption!important}body.skin--responsive .mw-parser-output .infobox-table>tbody{display:table-row-group}body.skin--responsive .mw-parser-output .infobox-table tr{display:table-row!important}body.skin--responsive .mw-parser-output .infobox-table th,body.skin--responsive .mw-parser-output .infobox-table td{padding-left:inherit;padding-right:inherit}}</style><table class="infobox hproduct"><caption class="infobox-title fn" style="padding-bottom:0.2em;">Dustbot</caption><tbody><tr><td colspan="2" class="infobox-image logo"><span class="mw-default-size" typeof="mw:File"><a href="/wiki/File:Dustbot-logo.jpg" class="mw-file-description"><img src="//upload.wikimedia.org/wikipedia/en/4/43/Dustbot-logo.jpg" decoding="async" width="339" height="106" class="mw-file-element" data-file-width="339" data-file-height="106" /></a></span><div class="infobox-caption" style="display:block;margin-bottom:0.4em;">Dustbot Demo Pontedera.</div></td></tr><tr><th scope="row" class="infobox-label" style="padding-right: 0.5em;">Inception</th><td class="infobox-data" style="line-height: 1.35em;">2009</td></tr><tr><th scope="row" class="infobox-label" style="padding-right: 0.5em;">Website</th><td class="infobox-data url" style="line-height: 1.35em;"><a rel="nofollow" class="external free" href="http://www.dustbot.org/">http://www.dustbot.org/</a> <span class="penicon autoconfirmed-show"><span class="mw-valign-text-top" typeof="mw:File/Frameless"><a href="https://www.wikidata.org/wiki/Q949677?uselang=en#P856" title="Edit this on Wikidata"><img alt="Edit this on Wikidata" src="//upload.wikimedia.org/wikipedia/en/thumb/8/8a/OOjs_UI_icon_edit-ltr-progressive.svg/10px-OOjs_UI_icon_edit-ltr-progressive.svg.png" decoding="async" width="10" height="10" class="mw-file-element" srcset="//upload.wikimedia.org/wikipedia/en/thumb/8/8a/OOjs_UI_icon_edit-ltr-progressive.svg/15px-OOjs_UI_icon_edit-ltr-progressive.svg.png 1.5x, //upload.wikimedia.org/wikipedia/en/thumb/8/8a/OOjs_UI_icon_edit-ltr-progressive.svg/20px-OOjs_UI_icon_edit-ltr-progressive.svg.png 2x" data-file-width="20" data-file-height="20" /></a></span></span></td></tr></tbody></table> <p><b>Dustbot</b> was a prototype <a href="/wiki/Robot" title="Robot">robot</a> that collected garbage from homes and streets.<sup id="cite_ref-1" class="reference"><a href="#cite_note-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> It could be summoned by phone call or <a href="/wiki/SMS" title="SMS">SMS</a>, and used <a href="/wiki/Global_Positioning_System" title="Global Positioning System">GPS</a> to automatically make its way to the customer, collect the rubbish, and take it to a dustbin. In addition, the Dustbots carried environmental sensors to monitor the pollution levels over, for example, a pedestrian area. Prototypes were tested in <a href="/wiki/Italy" title="Italy">Italy</a>, in <a href="/wiki/Sweden" title="Sweden">Sweden</a>, in <a href="/wiki/Korea" title="Korea">Korea</a> and <a href="/wiki/Japan" title="Japan">Japan</a>. Launch was planned in 2009, but the last reference in its webpage dates from 2011. The Dustbot project was funded by the <a href="/wiki/European_Commission" title="European Commission">European Commission</a> and it never launched as a commercial product.<sup id="cite_ref-2" class="reference"><a href="#cite_note-2"><span class="cite-bracket">[</span>2<span class="cite-bracket">]</span></a></sup> </p> <meta property="mw:PageProp/toc" /> <div class="mw-heading mw-heading2"><h2 id="Technical">Technical</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Dustbot&action=edit&section=1" title="Edit section: Technical"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <p>Dustbot uses different localisation and uses <a href="/wiki/Global_Positioning_System" title="Global Positioning System">GPS</a> navigation<sup id="cite_ref-BBC_3-0" class="reference"><a href="#cite_note-BBC-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup> combined with pre-loaded maps.<sup id="cite_ref-TG_4-0" class="reference"><a href="#cite_note-TG-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup> It uses a <a href="/wiki/Gyroscope" title="Gyroscope">gyroscope</a> to keep it upright, and has ultrasonic, infrared and laser sensors to avoid collisions with static and dynamic obstacles.<sup id="cite_ref-BBC_3-1" class="reference"><a href="#cite_note-BBC-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup> </p><p>It is able to monitor <a href="/wiki/Air_pollution" title="Air pollution">pollution</a> through a number of air quality sensors, <sup id="cite_ref-TG_4-1" class="reference"><a href="#cite_note-TG-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-DustCart_air_monitoring_ICRA_Workshop_5-0" class="reference"><a href="#cite_note-DustCart_air_monitoring_ICRA_Workshop-5"><span class="cite-bracket">[</span>5<span class="cite-bracket">]</span></a></sup> and can warn if the levels are too high.<sup id="cite_ref-STOCK_6-0" class="reference"><a href="#cite_note-STOCK-6"><span class="cite-bracket">[</span>6<span class="cite-bracket">]</span></a></sup> This is especially important in the case of gases that humans cannot sense or when long-term exposure to slightly increased concentrations needs to be verified.<sup id="cite_ref-Airborne_Chemical_Sensing_Review_7-0" class="reference"><a href="#cite_note-Airborne_Chemical_Sensing_Review-7"><span class="cite-bracket">[</span>7<span class="cite-bracket">]</span></a></sup> The distribution of gases is modelled using statistical methods.<sup id="cite_ref-Building_GDMs_8-0" class="reference"><a href="#cite_note-Building_GDMs-8"><span class="cite-bracket">[</span>8<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-SGPM_GDMs_9-0" class="reference"><a href="#cite_note-SGPM_GDMs-9"><span class="cite-bracket">[</span>9<span class="cite-bracket">]</span></a></sup> </p><p>Two DustCart robots were deployed in the village of Peccioli, Tuscany, from June 15, 2010, to August 7, 2010, providing "door to door separate waste collection on demand". The system was found to be easy to use, providing satisfactory service and increasing recycling. Its main weaknesses were "slow service/traffic problems (and) low bin capacity", and also the existence of "barriers to entry", according to a report by Nicola Canelli presented during ICT 2010 Conference Session, held in Bruxelles, September 27, 2010.<sup id="cite_ref-10" class="reference"><a href="#cite_note-10"><span class="cite-bracket">[</span>10<span class="cite-bracket">]</span></a></sup> As of November 10, 2017, the project seems to have been ended; still, the Dustbot homepage is online to this day, the last "news" update being apparently done in 2011. There is also a reference to the project in a presentation by Paolo Dario at the International Workshop on Autonomics and Legal Implications (Berlin, November 2, 2012).<sup id="cite_ref-11" class="reference"><a href="#cite_note-11"><span class="cite-bracket">[</span>11<span class="cite-bracket">]</span></a></sup> </p> <div class="mw-heading mw-heading2"><h2 id="See_also">See also</h2><span class="mw-editsection"><span class="mw-editsection-bracket">[</span><a href="/w/index.php?title=Dustbot&action=edit&section=2" title="Edit section: See also"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1239009302">.mw-parser-output .portalbox{padding:0;margin:0.5em 0;display:table;box-sizing:border-box;max-width:175px;list-style:none}.mw-parser-output .portalborder{border:1px solid var(--border-color-base,#a2a9b1);padding:0.1em;background:var(--background-color-neutral-subtle,#f8f9fa)}.mw-parser-output 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href="/w/index.php?title=Dustbot&action=edit&section=3" title="Edit section: References"><span>edit</span></a><span class="mw-editsection-bracket">]</span></span></div> <style data-mw-deduplicate="TemplateStyles:r1239543626">.mw-parser-output .reflist{margin-bottom:0.5em;list-style-type:decimal}@media screen{.mw-parser-output .reflist{font-size:90%}}.mw-parser-output .reflist .references{font-size:100%;margin-bottom:0;list-style-type:inherit}.mw-parser-output .reflist-columns-2{column-width:30em}.mw-parser-output .reflist-columns-3{column-width:25em}.mw-parser-output .reflist-columns{margin-top:0.3em}.mw-parser-output .reflist-columns ol{margin-top:0}.mw-parser-output .reflist-columns li{page-break-inside:avoid;break-inside:avoid-column}.mw-parser-output .reflist-upper-alpha{list-style-type:upper-alpha}.mw-parser-output .reflist-upper-roman{list-style-type:upper-roman}.mw-parser-output .reflist-lower-alpha{list-style-type:lower-alpha}.mw-parser-output .reflist-lower-greek{list-style-type:lower-greek}.mw-parser-output .reflist-lower-roman{list-style-type:lower-roman}</style><div class="reflist reflist-columns references-column-width reflist-columns-2"> <ol class="references"> <li id="cite_note-1"><span class="mw-cite-backlink"><b><a href="#cite_ref-1">^</a></b></span> <span class="reference-text"><style data-mw-deduplicate="TemplateStyles:r1238218222">.mw-parser-output cite.citation{font-style:inherit;word-wrap:break-word}.mw-parser-output .citation q{quotes:"\"""\"""'""'"}.mw-parser-output .citation:target{background-color:rgba(0,127,255,0.133)}.mw-parser-output .id-lock-free.id-lock-free a{background:url("//upload.wikimedia.org/wikipedia/commons/6/65/Lock-green.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-limited.id-lock-limited a,.mw-parser-output .id-lock-registration.id-lock-registration a{background:url("//upload.wikimedia.org/wikipedia/commons/d/d6/Lock-gray-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .id-lock-subscription.id-lock-subscription a{background:url("//upload.wikimedia.org/wikipedia/commons/a/aa/Lock-red-alt-2.svg")right 0.1em center/9px no-repeat}.mw-parser-output .cs1-ws-icon a{background:url("//upload.wikimedia.org/wikipedia/commons/4/4c/Wikisource-logo.svg")right 0.1em center/12px no-repeat}body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-free a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-limited a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-registration a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .id-lock-subscription a,body:not(.skin-timeless):not(.skin-minerva) .mw-parser-output .cs1-ws-icon a{background-size:contain;padding:0 1em 0 0}.mw-parser-output .cs1-code{color:inherit;background:inherit;border:none;padding:inherit}.mw-parser-output .cs1-hidden-error{display:none;color:var(--color-error,#d33)}.mw-parser-output .cs1-visible-error{color:var(--color-error,#d33)}.mw-parser-output .cs1-maint{display:none;color:#085;margin-left:0.3em}.mw-parser-output .cs1-kern-left{padding-left:0.2em}.mw-parser-output .cs1-kern-right{padding-right:0.2em}.mw-parser-output .citation .mw-selflink{font-weight:inherit}@media screen{.mw-parser-output .cs1-format{font-size:95%}html.skin-theme-clientpref-night .mw-parser-output .cs1-maint{color:#18911f}}@media screen and (prefers-color-scheme:dark){html.skin-theme-clientpref-os .mw-parser-output .cs1-maint{color:#18911f}}</style><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://techcrunch.com/2009/01/22/tomy-dustbot-the-original-floor-cleaning-robot/">"Tomy Dustbot: The original floor cleaning robot"</a>. <i>TechCrunch</i>. 22 January 2009. <a rel="nofollow" class="external text" href="https://web.archive.org/web/20220214160920/https://techcrunch.com/2009/01/22/tomy-dustbot-the-original-floor-cleaning-robot/">Archived</a> from the original on 2022-02-14<span class="reference-accessdate">. Retrieved <span class="nowrap">2022-02-14</span></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=unknown&rft.jtitle=TechCrunch&rft.atitle=Tomy+Dustbot%3A+The+original+floor+cleaning+robot&rft.date=2009-01-22&rft_id=https%3A%2F%2Ftechcrunch.com%2F2009%2F01%2F22%2Ftomy-dustbot-the-original-floor-cleaning-robot%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADustbot" class="Z3988"></span></span> </li> <li id="cite_note-2"><span class="mw-cite-backlink"><b><a href="#cite_ref-2">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="https://www.nanowerk.com/news2/robotics/newsid=30258.php">"Dustbot - a robot designed to clean up our streets (w/video)"</a>. www.nanowerk.com. <a rel="nofollow" class="external text" href="https://web.archive.org/web/20220214161050/https://www.nanowerk.com/news2/robotics/newsid=30258.php">Archived</a> from the original on 2022-02-14<span class="reference-accessdate">. Retrieved <span class="nowrap">2022-02-14</span></span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Dustbot+-+a+robot+designed+to+clean+up+our+streets+%28w%2Fvideo%29&rft.pub=www.nanowerk.com&rft_id=https%3A%2F%2Fwww.nanowerk.com%2Fnews2%2Frobotics%2Fnewsid%3D30258.php&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADustbot" class="Z3988"></span></span> </li> <li id="cite_note-BBC-3"><span class="mw-cite-backlink">^ <a href="#cite_ref-BBC_3-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-BBC_3-1"><sup><i><b>b</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFDuncan_Kennedy2009" class="citation web cs1">Duncan Kennedy (29 May 2009). <a rel="nofollow" class="external text" href="http://news.bbc.co.uk/1/hi/in_depth/8072619.stm">"Dustbot the street cleaning robot"</a>. <a href="/wiki/BBC" title="BBC">BBC</a> World News. <a rel="nofollow" class="external text" href="https://web.archive.org/web/20191016100245/http://news.bbc.co.uk/2/hi/in_depth/8072619.stm">Archived</a> from the original on 16 October 2019<span class="reference-accessdate">. Retrieved <span class="nowrap">8 June</span> 2009</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Dustbot+the+street+cleaning+robot&rft.pub=BBC+World+News&rft.date=2009-05-29&rft.au=Duncan+Kennedy&rft_id=http%3A%2F%2Fnews.bbc.co.uk%2F1%2Fhi%2Fin_depth%2F8072619.stm&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADustbot" class="Z3988"></span></span> </li> <li id="cite_note-TG-4"><span class="mw-cite-backlink">^ <a href="#cite_ref-TG_4-0"><sup><i><b>a</b></i></sup></a> <a href="#cite_ref-TG_4-1"><sup><i><b>b</b></i></sup></a></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFEmma_Woollacott2009" class="citation web cs1">Emma Woollacott (29 May 2009). <a rel="nofollow" class="external text" href="https://web.archive.org/web/20090602115635/http://www.tgdaily.com/content/view/42637/135">"Robot garbage cart set to hit Italian streets"</a>. TG Daily. Archived from <a rel="nofollow" class="external text" href="http://www.tgdaily.com/content/view/42637/135/">the original</a> on 2 June 2009<span class="reference-accessdate">. Retrieved <span class="nowrap">8 June</span> 2009</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Robot+garbage+cart+set+to+hit+Italian+streets&rft.pub=TG+Daily&rft.date=2009-05-29&rft.au=Emma+Woollacott&rft_id=http%3A%2F%2Fwww.tgdaily.com%2Fcontent%2Fview%2F42637%2F135%2F&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADustbot" class="Z3988"></span></span> </li> <li id="cite_note-DustCart_air_monitoring_ICRA_Workshop-5"><span class="mw-cite-backlink"><b><a href="#cite_ref-DustCart_air_monitoring_ICRA_Workshop_5-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFGabriele_FerriAlessio_MondiniAlessandro_ManziBarbara_Mazzolai2010" class="citation web cs1">Gabriele Ferri; Alessio Mondini; Alessandro Manzi; Barbara Mazzolai; <a href="/wiki/Cecilia_Laschi" title="Cecilia Laschi">Cecilia Laschi</a>; Virgilio Mattoli; Matteo Reggente; Todor Stoyanov; Achim J. Lilienthal; Marco Lettere; Paolo Dario (May 2010). <a rel="nofollow" class="external text" href="http://www.aass.oru.se/Research/mro/publications/Ferri_etal_2010-ICRA_WS10-DustCart_Mobile_Robot_Urban_Environments_Experiments_Pollution_Monitoring_Mapping_Urban_Scenarios.html">"DustCart, a Mobile Robot for Urban Environments: Experiments of Pollution Monitoring and Mapping during Autonomous Navigation in Urban Scenarios"</a>. Proceedings of International Conference on Robotics and Automation (ICRA 2010) Workshop on Networked and Mobile Robot Olfaction in Natural, Dynamic Environments. <a rel="nofollow" class="external text" href="https://web.archive.org/web/20160303234352/http://www.aass.oru.se/Research/mro/publications/Ferri_etal_2010-ICRA_WS10-DustCart_Mobile_Robot_Urban_Environments_Experiments_Pollution_Monitoring_Mapping_Urban_Scenarios.html">Archived</a> from the original on 2016-03-03.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=DustCart%2C+a+Mobile+Robot+for+Urban+Environments%3A+Experiments+of+Pollution+Monitoring+and+Mapping+during+Autonomous+Navigation+in+Urban+Scenarios&rft.pub=Proceedings+of+International+Conference+on+Robotics+and+Automation+%28ICRA+2010%29+Workshop+on+Networked+and+Mobile+Robot+Olfaction+in+Natural%2C+Dynamic+Environments&rft.date=2010-05&rft.au=Gabriele+Ferri&rft.au=Alessio+Mondini&rft.au=Alessandro+Manzi&rft.au=Barbara+Mazzolai&rft.au=Cecilia+Laschi&rft.au=Virgilio+Mattoli&rft.au=Matteo+Reggente&rft.au=Todor+Stoyanov&rft.au=Achim+J.+Lilienthal&rft.au=Marco+Lettere&rft.au=Paolo+Dario&rft_id=http%3A%2F%2Fwww.aass.oru.se%2FResearch%2Fmro%2Fpublications%2FFerri_etal_2010-ICRA_WS10-DustCart_Mobile_Robot_Urban_Environments_Experiments_Pollution_Monitoring_Mapping_Urban_Scenarios.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADustbot" class="Z3988"></span></span> </li> <li id="cite_note-STOCK-6"><span class="mw-cite-backlink"><b><a href="#cite_ref-STOCK_6-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFDavid_Jonasson2009" class="citation web cs1">David Jonasson (23 May 2009). <a rel="nofollow" class="external text" href="https://web.archive.org/web/20090527122432/http://www.stockholmnews.com/more.aspx?NID=3280">"Robots to sweep the streets"</a>. Stockholm News. Archived from <a rel="nofollow" class="external text" href="http://www.stockholmnews.com/more.aspx?NID=3280">the original</a> on 27 May 2009<span class="reference-accessdate">. Retrieved <span class="nowrap">8 June</span> 2009</span>.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Robots+to+sweep+the+streets&rft.pub=Stockholm+News&rft.date=2009-05-23&rft.au=David+Jonasson&rft_id=http%3A%2F%2Fwww.stockholmnews.com%2Fmore.aspx%3FNID%3D3280&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADustbot" class="Z3988"></span></span> </li> <li id="cite_note-Airborne_Chemical_Sensing_Review-7"><span class="mw-cite-backlink"><b><a href="#cite_ref-Airborne_Chemical_Sensing_Review_7-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFAchim_J._LilienthalAmy_LoutfiTom_Duckett2006" class="citation web cs1">Achim J. Lilienthal; Amy Loutfi; Tom Duckett (October 1, 2006). <a rel="nofollow" class="external text" href="http://aass.oru.se/Research/Learning/publications/Lilienthal_etal_2006-Sensors-Airborne_Chemical_Sensing_Review.html">"Airborne Chemical Sensing with Mobile Robots"</a>. <a rel="nofollow" class="external text" href="https://web.archive.org/web/20090413132555/http://www.aass.oru.se/Research/Learning/publications/Lilienthal_etal_2006-Sensors-Airborne_Chemical_Sensing_Review.html">Archived</a> from the original on April 13, 2009.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Airborne+Chemical+Sensing+with+Mobile+Robots&rft.date=2006-10-01&rft.au=Achim+J.+Lilienthal&rft.au=Amy+Loutfi&rft.au=Tom+Duckett&rft_id=http%3A%2F%2Faass.oru.se%2FResearch%2FLearning%2Fpublications%2FLilienthal_etal_2006-Sensors-Airborne_Chemical_Sensing_Review.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADustbot" class="Z3988"></span></span> </li> <li id="cite_note-Building_GDMs-8"><span class="mw-cite-backlink"><b><a href="#cite_ref-Building_GDMs_8-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFAchim_J._LilienthalTom_Duckett2004" class="citation web cs1">Achim J. Lilienthal; Tom Duckett (August 31, 2004). <a rel="nofollow" class="external text" href="http://aass.oru.se/Research/Learning/publications/Lilienthal_Duckett_2004-RAS-Building_Gas_Concentration_Gridmaps_with_a_Mobile_Robot.html">"Building Gas Concentration Gridmaps with a Mobile Robot"</a>. <a rel="nofollow" class="external text" href="https://web.archive.org/web/20090411195056/http://www.aass.oru.se/Research/Learning/publications/Lilienthal_Duckett_2004-RAS-Building_Gas_Concentration_Gridmaps_with_a_Mobile_Robot.html">Archived</a> from the original on April 11, 2009.</cite><span title="ctx_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=unknown&rft.btitle=Building+Gas+Concentration+Gridmaps+with+a+Mobile+Robot&rft.date=2004-08-31&rft.au=Achim+J.+Lilienthal&rft.au=Tom+Duckett&rft_id=http%3A%2F%2Faass.oru.se%2FResearch%2FLearning%2Fpublications%2FLilienthal_Duckett_2004-RAS-Building_Gas_Concentration_Gridmaps_with_a_Mobile_Robot.html&rfr_id=info%3Asid%2Fen.wikipedia.org%3ADustbot" class="Z3988"></span></span> </li> <li id="cite_note-SGPM_GDMs-9"><span class="mw-cite-backlink"><b><a href="#cite_ref-SGPM_GDMs_9-0">^</a></b></span> <span class="reference-text"><link rel="mw-deduplicated-inline-style" href="mw-data:TemplateStyles:r1238218222"><cite id="CITEREFCyrill_StachnissChristian_PlagemannAchim_J._Lilienthal2009" class="citation web cs1">Cyrill Stachniss; Christian Plagemann; Achim J. 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