New trends in robotics for agriculture: Integration and assessment of a real fleet of robots

Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorpor...

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Autores: Emmi, Luis Alfredo, González-de-Soto, Mariano, Pajares, Gerardo, González-de-Santos, Pablo
Tipo de recurso: artículo
Fecha de publicación:2014
País:España
Institución:Consejo Superior de Investigaciones Científicas (CSIC)
Repositorio:DIGITAL.CSIC. Repositorio Institucional del CSIC
OAI Identifier:oai:digital.csic.es:10261/111354
Acceso en línea:http://hdl.handle.net/10261/111354
Access Level:acceso abierto
Palabra clave:Precision agriculture
Fleets
Autonomous vehicles
Robotic
Autonomous systems
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spelling New trends in robotics for agriculture: Integration and assessment of a real fleet of robots Emmi, Luis Alfredo González-de-Soto, Mariano Pajares, Gerardo González-de-Santos, Pablo Precision agriculture Fleets Autonomous vehicles Robotic Autonomous systems Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis. © 2014 Luis Emmi et al. The research leading to these results has received funding from the European Union’s Seventh Framework Programme [FP7/2007-2013] under Grant Agreement no. 245986. Peer Reviewed Hindawi Publishing Corporation http://hdl.handle.net/10261/111354
title New trends in robotics for agriculture: Integration and assessment of a real fleet of robots
spellingShingle New trends in robotics for agriculture: Integration and assessment of a real fleet of robots
Emmi, Luis Alfredo
Precision agriculture
Fleets
Autonomous vehicles
Robotic
Autonomous systems
title_short New trends in robotics for agriculture: Integration and assessment of a real fleet of robots
title_full New trends in robotics for agriculture: Integration and assessment of a real fleet of robots
title_fullStr New trends in robotics for agriculture: Integration and assessment of a real fleet of robots
title_full_unstemmed New trends in robotics for agriculture: Integration and assessment of a real fleet of robots
title_sort New trends in robotics for agriculture: Integration and assessment of a real fleet of robots
author Emmi, Luis Alfredo
author_facet Emmi, Luis Alfredo
González-de-Soto, Mariano
Pajares, Gerardo
González-de-Santos, Pablo
author_role author
author2 González-de-Soto, Mariano
Pajares, Gerardo
González-de-Santos, Pablo
author2_role author
author
author
topic Precision agriculture
Fleets
Autonomous vehicles
Robotic
Autonomous systems
topic_facet Precision agriculture
Fleets
Autonomous vehicles
Robotic
Autonomous systems
description Computer-based sensors and actuators such as global positioning systems, machine vision, and laser-based sensors have progressively been incorporated into mobile robots with the aim of configuring autonomous systems capable of shifting operator activities in agricultural tasks. However, the incorporation of many electronic systems into a robot impairs its reliability and increases its cost. Hardware minimization, as well as software minimization and ease of integration, is essential to obtain feasible robotic systems. A step forward in the application of automatic equipment in agriculture is the use of fleets of robots, in which a number of specialized robots collaborate to accomplish one or several agricultural tasks. This paper strives to develop a system architecture for both individual robots and robots working in fleets to improve reliability, decrease complexity and costs, and permit the integration of software from different developers. Several solutions are studied, from a fully distributed to a whole integrated architecture in which a central computer runs all processes. This work also studies diverse topologies for controlling fleets of robots and advances other prospective topologies. The architecture presented in this paper is being successfully applied in the RHEA fleet, which comprises three ground mobile units based on a commercial tractor chassis. © 2014 Luis Emmi et al.
publishDate 2014
format article
url http://hdl.handle.net/10261/111354
eu_rights_str_mv openAccess
publisher Hindawi Publishing Corporation
institution Consejo Superior de Investigaciones Científicas (CSIC)
collection DIGITAL.CSIC. Repositorio Institucional del CSIC
reponame_str DIGITAL.CSIC. Repositorio Institucional del CSIC
instname_str Consejo Superior de Investigaciones Científicas (CSIC)
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publishDateSort 2014
author_browse Emmi, Luis Alfredo
González-de-Santos, Pablo
González-de-Soto, Mariano
Pajares, Gerardo
publisherStr Hindawi Publishing Corporation
score 6,9303427

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