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This paper reports on the development of compact surface plasmon resonance (SPR) sensors to be used for mobile robot olfaction. The proposed sensor uses a periodic metal structure formed on top of the self-assembled layer of polystyrene particles of 200 nm in diameter. With the grating of this size, SPR can be excited even with an LED light source. The change in the absorbance is simply measured using a photodiode. The experimental results are presented on a silver nanostructure sensor and a gold nanostructure sensor to show the potential of these sensors.