NDLI: Sensor planning for a symbiotic UAV and UGV system for precision agriculture

Content Provider	IEEE Xplore Digital Library
Author	Tokekar, P. Vander Hook, J. Mulla, D. Isler, V.
Copyright Year	2013
Description	Author affiliation: Dept. of Soil, Water & Climate, Univ. of Minnesota, Minneapolis, MN, USA (Mulla, D.) \|\| Dept. of Comput. Sci. & Eng., Univ. of Minnesota, Minneapolis, MN, USA (Tokekar, P.; Vander Hook, J.; Isler, V.)
Abstract	We study the problem of coordinating an Unmanned Aerial Vehicle (UAV) and an Unmanned Ground Vehicle (UGV) for a precision agriculture application. In this application, the ground and aerial measurements are used for estimating nitrogen (N) levels on-demand across a farm. Our goal is to estimate the N map over a field and classify each point based on N deficiency levels. These estimates in turn guide fertilizer application. Applying the right amount of fertilizer at the right time can drastically reduce fertilizer usage. Towards building such a system, this paper makes the following contributions: First, we present a method to identify points whose probability of being misclassified is above a threshold. Second, we study the problem of maximizing the number of such points visited by an UAV subject to its energy budget. The novelty of our formulation is the capability of the UGV to mule the UAV to deployment points. This allows the system to conserve the short battery life of a typical UAV. Third, we introduce a new path planning problem in which the UGV must take a measurement within a disk centered at each point visited by the UAV. The goal is to minimize the total time spent in traveling and measuring. For both problems, we present constant-factor approximation algorithms. Finally, we demonstrate the utility of our system with simulations which use manually collected soil measurements from the field.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	5321
Ending Page	5326
File Size	397369
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6697126
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Soil measurements Robot sensing systems Time measurement Agriculture Soil Mathematical model Approximation algorithms
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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