1. 3D Map Reconstruction of an Orchard using an Angle-Aware Covering Control Strategy
- Author
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Mammarella, Martina, Donati, Cesare, Shimizu, Takumi, Suenaga, Masaya, Comba, Lorenzo, Biglia, Alessandro, Uto, Kuniaki, Hatanaka, Takeshi, Gay, Paolo, and Dabbene, Fabrizio
- Subjects
Electrical Engineering and Systems Science - Systems and Control ,Computer Science - Robotics - Abstract
In the last years, unmanned aerial vehicles are becoming a reality in the context of precision agriculture, mainly for monitoring, patrolling and remote sensing tasks, but also for 3D map reconstruction. In this paper, we present an innovative approach where a fleet of unmanned aerial vehicles is exploited to perform remote sensing tasks over an apple orchard for reconstructing a 3D map of the field, formulating the covering control problem to combine the position of a monitoring target and the viewing angle. Moreover, the objective function of the controller is defined by an importance index, which has been computed from a multi-spectral map of the field, obtained by a preliminary flight, using a semantic interpretation scheme based on a convolutional neural network. This objective function is then updated according to the history of the past coverage states, thus allowing the drones to take situation-adaptive actions. The effectiveness of the proposed covering control strategy has been validated through simulations on a Robot Operating System., Comment: 6 pages, 6 figures
- Published
- 2022