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http://hdl.handle.net/10071/12747
acessibilidade
Title: Sediment sampling in estuarine mudflats with an aerial-ground robotic team
Authors: Deusdado, P.
Guedes, M.
Silva, A.
Marques, F.
Pinto, E.
Rodrigues, P.
Lourenço, A.
Mendonça, R.
Santana, P.
Corisco, J.
Almeida, S. M.
Portugal, L.
Caldeira, R.
Barata, J.
Flores, L.
Keywords: Multi-robot system
Field robots
UGV
UAV
Environmental monitoring
Radiological monitoring
Heavy Metals monitoring
Estuarine mudflats
Issue Date: 2016
Publisher: Multidisciplinary Digital Publishing Institute
Abstract: This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is used by remote human operators for specifying the robotic mission and supervising its execution. This is crucial for the success of an environmental monitoring study, as often it depends on human expertise to ensure the statistical significance and accuracy of the sampling procedures. Although the literature is rich on environmental monitoring sampling procedures, in mudflats, there is a gap as regards including robotic elements. This paper closes this gap by also proposing a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Field trials in the south bank of the river Tagus’ estuary show the ability of the robotic system to successfully extract and transport bottom sediment samples for offline analysis. The results also show the efficiency of the extraction and the benefits when compared to (conventional) human-based sampling.
Peer reviewed: yes
URI: http://hdl.handle.net/10071/12747
DOI: 10.3390/s16091461
ISSN: 1424-8220
Ciência-IUL: https://ciencia.iscte-iul.pt/id/ci-pub-30236
Accession number: WOS:000385527700122
Appears in Collections:CTI-RI - Artigos em revistas científicas internacionais com arbitragem científica

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