Samenvatting

Within our research on robotic gas detection, we have focused on making a prototype based on
Boston Dynamics SPOT, because it takes a lot of difficulties out of prototyping. For instance, it has its
own obstacle avoidance algorithm, good drivers are available for ROS2, and SPOT is meant for
outdoor navigation. Being a legged robot means that it can easily traverse curbs, shrubberies,
unstable soil and even stairs.
For this document, we are going to use the insights that we used when looking for a solution for SPOT.