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

doi:10.1007/978-3-319-27149-1_2

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 proceeding › Chapter › peer-review

7 Citations (Scopus)

Abstract

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 language	English
Title of host publication	Robot 2015: Second Iberian Robotics Conference
Subtitle of host publication	Advances in Robotics, Volume 2
Editors	Paulo Luís Reis, Paulo António Moreira, U. Pedro Lima, Luis Montano, Victor Muñoz-Martinez
Place of Publication	Cham
Publisher	SPRINGER INTERNATIONAL PUBLISHING AG
Pages	15-26
Number of pages	12
Volume	418
ISBN (Print)	978-3-319-27149-1
DOIs	https://doi.org/10.1007/978-3-319-27149-1_2
Publication status	Published - 2016

Publication series

Name	Advances in Intelligent Systems and Computing
Publisher	Springer-Verlag
Volume	412
ISSN (Electronic)	2194-5357

Keywords

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

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10.1007/978-3-319-27149-1_2Licence: Unspecified

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Deusdado, P., Pinto, E., Guedes, M., Marques, F., Rodrigues, P., Lourenço, A., Mendonça, R., Silva, A., Santana, P., Corisco, J., Tavares de Almeida, M., Portugal, L., Caldeira, R., Barata, J., Flores, L., & Rodrigues, P. (2016). An Aerial-Ground Robotic Team for Systematic Soil and Biota Sampling in Estuarine Mudflats. In P. L. Reis, P. A. Moreira, U. P. Lima, L. Montano, & V. Muñoz-Martinez (Eds.), Robot 2015: Second Iberian Robotics Conference: Advances in Robotics, Volume 2 (Vol. 418, pp. 15-26). (Advances in Intelligent Systems and Computing; Vol. 412). SPRINGER INTERNATIONAL PUBLISHING AG. https://doi.org/10.1007/978-3-319-27149-1_2

Deusdado, Pedro ; Pinto, Eduardo ; Guedes, Magno ; Marques, Francisco ; Rodrigues, Paulo ; Lourenço, André ; Mendonça, Ricardo ; Silva, André ; Santana, Pedro ; Corisco, José ; Tavares de Almeida, Marta ; Portugal, Luís ; Caldeira, Raquel ; Barata, José ; Flores, Luis ; Rodrigues, Paulo. / An Aerial-Ground Robotic Team for Systematic Soil and Biota Sampling in Estuarine Mudflats. Robot 2015: Second Iberian Robotics Conference: Advances in Robotics, Volume 2. editor / Paulo Luís Reis ; Paulo António Moreira ; U. Pedro Lima ; Luis Montano ; Victor Muñoz-Martinez. Vol. 418 Cham : SPRINGER INTERNATIONAL PUBLISHING AG, 2016. pp. 15-26 (Advances in Intelligent Systems and Computing).

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abstract = "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.",

keywords = "Multi-robot system, Field robots, UGV, UAV, Environmental monitoring, Radiological monitoring, Estuarine mudflats",

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Deusdado, P, Pinto, E, Guedes, M, Marques, F, Rodrigues, P, Lourenço, A, Mendonça, R, Silva, A, Santana, P, Corisco, J, Tavares de Almeida, M, Portugal, L, Caldeira, R, Barata, J, Flores, L & Rodrigues, P 2016, An Aerial-Ground Robotic Team for Systematic Soil and Biota Sampling in Estuarine Mudflats. in PL Reis, PA Moreira, UP Lima, L Montano & V Muñoz-Martinez (eds), Robot 2015: Second Iberian Robotics Conference: Advances in Robotics, Volume 2. vol. 418, Advances in Intelligent Systems and Computing, vol. 412, SPRINGER INTERNATIONAL PUBLISHING AG, Cham, pp. 15-26. https://doi.org/10.1007/978-3-319-27149-1_2

An Aerial-Ground Robotic Team for Systematic Soil and Biota Sampling in Estuarine Mudflats. / Deusdado, Pedro; Pinto, Eduardo; Guedes, Magno; Marques, Francisco; Rodrigues, Paulo; Lourenço, André; Mendonça, Ricardo; Silva, André; Santana, Pedro; Corisco, José; Tavares de Almeida, Marta; Portugal, Luís; Caldeira, Raquel; Barata, José; Flores, Luis; Rodrigues, Paulo.

Robot 2015: Second Iberian Robotics Conference: Advances in Robotics, Volume 2. ed. / Paulo Luís Reis; Paulo António Moreira; U. Pedro Lima; Luis Montano; Victor Muñoz-Martinez. Vol. 418 Cham : SPRINGER INTERNATIONAL PUBLISHING AG, 2016. p. 15-26 (Advances in Intelligent Systems and Computing; Vol. 412).

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

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T1 - An Aerial-Ground Robotic Team for Systematic Soil and Biota Sampling in Estuarine Mudflats

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AU - Pinto, Eduardo

AU - Guedes, Magno

AU - Marques, Francisco

AU - Rodrigues, Paulo

AU - Lourenço, André

AU - Mendonça, Ricardo

AU - Silva, André

AU - Santana, Pedro

AU - Corisco, José

AU - Tavares de Almeida, Marta

AU - Portugal, Luís

AU - Caldeira, Raquel

AU - Barata, José

AU - Flores, Luis

AU - Rodrigues, Paulo

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AB - 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.

KW - Multi-robot system

KW - Field robots

KW - UGV

KW - UAV

KW - Environmental monitoring

KW - Radiological monitoring

KW - Estuarine mudflats

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DO - 10.1007/978-3-319-27149-1_2

M3 - Chapter

SN - 978-3-319-27149-1

VL - 418

T3 - Advances in Intelligent Systems and Computing

SP - 15

EP - 26

BT - Robot 2015: Second Iberian Robotics Conference

A2 - Reis, Paulo Luís

A2 - Moreira, Paulo António

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A2 - Muñoz-Martinez, Victor

PB - SPRINGER INTERNATIONAL PUBLISHING AG

CY - Cham

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Deusdado P, Pinto E, Guedes M, Marques F, Rodrigues P, Lourenço A et al. An Aerial-Ground Robotic Team for Systematic Soil and Biota Sampling in Estuarine Mudflats. In Reis PL, Moreira PA, Lima UP, Montano L, Muñoz-Martinez V, editors, Robot 2015: Second Iberian Robotics Conference: Advances in Robotics, Volume 2. Vol. 418. Cham: SPRINGER INTERNATIONAL PUBLISHING AG. 2016. p. 15-26. (Advances in Intelligent Systems and Computing). https://doi.org/10.1007/978-3-319-27149-1_2

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

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