An Aerial-Ground Robotic Team for Systematic Soil and Biota Sampling in Estuarine Mudflats

Pedro Deusdado, Eduardo Pinto, Magno Guedes, Francisco Marques, Paulo Rodrigues, André Lourenço, Ricardo Mendonça, André Silva, Pedro Santana, José Corisco, Marta Tavares de Almeida, Luís Portugal, Raquel Caldeira, José Barata, Luis Flores, Paulo Rodrigues

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

7 Citations (Scopus)


This paper presents an aerial-ground field robotic team, designed to collect and transport soil and biota samples in estuarine mudflats. The robotic system has been devised so that its sampling and storage capabilities are suited for radionuclides and heavy metals environmental monitoring. Automating these time-consuming and physically demanding tasks is expected to positively impact both their scope and frequency. The success of an environmental monitoring study heavily depends on the statistical significance and accuracy of the sampling procedures, which most often require frequent human intervention. The bird's-eye viewprovided by the aerial vehicle aims at supporting remote mission specification and execution monitoring. This paper also proposes a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Preliminary field trials in real estuarine mudflats show the ability of the robotic system to successfully extract and transport soil samples for offline analysis.
Original languageEnglish
Title of host publicationRobot 2015: Second Iberian Robotics Conference
Subtitle of host publication Advances in Robotics, Volume 2
EditorsPaulo Luís Reis, Paulo António Moreira, U. Pedro Lima, Luis Montano, Victor Muñoz-Martinez
Place of PublicationCham
Number of pages12
ISBN (Print)978-3-319-27149-1
Publication statusPublished - 2016

Publication series

NameAdvances in Intelligent Systems and Computing
ISSN (Electronic)2194-5357


  • Multi-robot system
  • Field robots
  • UGV
  • UAV
  • Environmental monitoring
  • Radiological monitoring
  • Estuarine mudflats


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