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Olfaction is a valuable source of information about the environment that has not been sufficiently exploited in mobile robotics yet. Certainly, odor information can contribute to other sensing modalities, e.g., vision, to accomplish high-level robot activities, such as task planning or execution in human environments. This paper organizes and puts together the developments and experiences on combining olfaction and vision into robotics applications, as the result of our five-years long project IRO: Improvement of the sensory and autonomous capability of Robots through Olfaction. Particularly, it investigates mechanisms to exploit odor information (usually coming in the form of the type of volatile and its concentration) in problems such as object recognition and scene–activity understanding. A distinctive aspect of this research is the special attention paid to the role of semantics within the robot perception and decision-making processes. The obtained results have improved the robot capabilities in terms of efficiency, autonomy, and usefulness, as reported in our publications. [ABSTRACT FROM AUTHOR]