مؤتمر
3D Map Reconstruction of an Orchard using an Angle-Aware Covering Control Strategy
| العنوان: | 3D Map Reconstruction of an Orchard using an Angle-Aware Covering Control Strategy |
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| المؤلفون: | Mammarella, M, Donati, C, Shimizu, T, Suenaga, M, Comba, L, Biglia, A, Uto, K, Hatanaka, T, Gay, P, Dabbene, F |
| المساهمون: | Mammarella, M, Donati, C, Shimizu, T, Suenaga, M, Comba, L, Biglia, A, Uto, K, Hatanaka, T, Gay, P, Dabbene, F |
| بيانات النشر: | ELSEVIER |
| سنة النشر: | 2022 |
| المجموعة: | PORTO@iris (Publications Open Repository TOrino - Politecnico di Torino) |
| مصطلحات موضوعية: | Precision farming, Agricultural robotic, Autonomous vehicles in agriculture, Covering control, Crop modeling |
| الوصف: | 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. Copyright (C) 2022 The Authors. |
| نوع الوثيقة: | conference object |
| وصف الملف: | ELETTRONICO |
| اللغة: | English |
| العلاقة: | info:eu-repo/semantics/altIdentifier/wos/WOS:000889052400047; ispartofbook:IFAC-PapersOnLine; 7th IFAC Conference on Sensing, Control and Automation Technologies for Agriculture AGRICONTROL 2022; volume:55; firstpage:271; lastpage:276; numberofpages:6; serie:IFAC-PAPERSONLINE; https://hdl.handle.net/11583/2975538Test; info:eu-repo/semantics/altIdentifier/scopus/2-s2.0-85144828872; https://www.sciencedirect.com/science/article/pii/S2405896322027847Test |
| DOI: | 10.1016/j.ifacol.2022.11.151 |
| الإتاحة: | https://doi.org/10.1016/j.ifacol.2022.11.151Test https://hdl.handle.net/11583/2975538Test https://www.sciencedirect.com/science/article/pii/S2405896322027847Test |
| حقوق: | info:eu-repo/semantics/openAccess |
| رقم الانضمام: | edsbas.AA7CEFBE |
| قاعدة البيانات: | BASE |
| DOI: | 10.1016/j.ifacol.2022.11.151 |
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