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Author(s): Deusdado, P.
Pinto, E.
Guedes, M.
Marques, F.
Rodrigues, P.
Lourenço, A.
Mendonça, R.
Silva, A.
Santana, P.
Corisco, J.
Almeida, M.
Portugal, L.
Caldeira, R.
Barata, J.
Flores, L.
Editor: Luís Paulo Reis, António Paulo Moreira, Pedro U. Lima, Luis Montano, Victor Muñoz-Martinez
Date: 2015
Title: An aerial-ground robotic team for systematic soil and biota sampling in estuarine mudflats
Volume: 2
ISSN: 2194-5357
ISBN: 978-3-319-27149-1
DOI (Digital Object Identifier): 10.1007/978-3-319-27149-1_2
Keywords: Multi-robot system
Field robots
Environmental monitoring
Radiological monitoring
Estuarine mudflats
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 view provided 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.
Peerreviewed: yes
Access type: Open Access
Appears in Collections:ISTAR-CRI - Comunicações a conferências internacionais

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