Plantation monitoring using heterogeneous robots

• Grant number: 17/17444-0
• Support Opportunities: Scholarships in Brazil - Doctorate (Direct)
• Start date: September 01, 2017
• End date: September 30, 2022
• Field of knowledge: Physical Sciences and Mathematics - Computer Science - Computer Systems
• Agreement: CNPq - INCTs
• Principal Investigator: Roseli Aparecida Francelin Romero
• Grantee: Guilherme Vicentim Nardari
• Host Institution: Instituto de Ciências Matemáticas e de Computação (ICMC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
• Associated research grant: 14/50851-0 - INCT 2014: National Institute of Science and Technology for Cooperative Autonomous Systems Applied in Security and Environment, AP.TEM
• Associated scholarship(s): 18/24526-5 - Estimation of crop structure and health using heterogeneous robots, BE.EP.DD

Abstract

The development of the National Agriculture accelerated by the government's investments made the insertion of new technologies in this field possible, increasing productivity, fighting pests, and defining suitable ground occupation. Brazil is a reference in exportation for some products, such as orange, coffee and cocoa. As it is in the farmer's interest to increase productivity, in order to reduce risks and losses, it is believed that the use of an autonomous monitoring system with the use of robots to collect images of the plantation for later analysis may assist the farmer in his decisions. The data collection aims to estimate several factors, such as the quantity of products/fruits produced by region, detection of diseases in the leaves of the plants, rate of development and degree of maturity of the plants. These data are important, because they reflect on the flavor, color, size and quality of the product/fruit. The proposed system uses a heterogeneous robots architecture in a way that they have simpler tasks combined to the execution of a final purpose. The two classes of autonomous robots applied will be the car and the quadrotor (UAV). The first one will be responsible for walking a block of the plantation to be monitored in order to identify it, and then shoot the quadrotor. The UAV must go through each row collecting images of the front of the plantation, and then return to the base (car) to charge its own batteries. The quadrotor also receives the coordinates for each row from the system inside the car. It is expected, with this research, in the medium term, to produce an economically viable product, guided by an iterative development and a close relationship to users, that brings relevant information to farmers' decision-making process. (AU)

Scientific publications

(5)

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

RANIERI, CAETANO M.; NARDARI, GUILHERME; PINTO, ADAM H. M.; TOZADORE, DANIEL C.; ROMERO, ROSELI A. F.; DONASCIMENTO, TP; COLOMBINI, EL; DEBRITO, AV; GARCIA, LTD; SA, STD; et al. LARa: a robotic framework for human-robot interaction on indoor environments. 15TH LATIN AMERICAN ROBOTICS SYMPOSIUM 6TH BRAZILIAN ROBOTICS SYMPOSIUM 9TH WORKSHOP ON ROBOTICS IN EDUCATION (LARS/SBR/WRE 2018), v. N/A, p. 7-pg., 2018-01-01. (14/50851-0, 17/01687-0, 17/02377-5, 17/17444-0)

PINTO, ADAM H. M.; NARDARI, GUILHERME V.; ROMERO, ROSELI A. F.; MIJAN, MARCO A. M.; DONASCIMENTO, TP; COLOMBINI, EL; DEBRITO, AV; GARCIA, LTD; SA, STD; GONCALVES, LMG. Comparing features extraction and classification methods to recognize ErrP signals. 15TH LATIN AMERICAN ROBOTICS SYMPOSIUM 6TH BRAZILIAN ROBOTICS SYMPOSIUM 9TH WORKSHOP ON ROBOTICS IN EDUCATION (LARS/SBR/WRE 2018), v. N/A, p. 7-pg., 2018-01-01. (14/50851-0, 17/17444-0)

LIU, XU; NARDARI, GUILHERME, V; OJEDA, FERNANDO CLADERA; TAO, YUEZHAN; ZHOU, ALEX; DONNELLY, THOMAS; QU, CHAO; CHEN, STEVEN W.; ROMERO, ROSELI A. F.; TAYLOR, CAMILLO J.; et al. Large-Scale Autonomous Flight With Real-Time Semantic SLAM Under Dense Forest Canopy. IEEE ROBOTICS AND AUTOMATION LETTERS, v. 7, n. 2, p. 8-pg., 2022-04-01. (17/17444-0, 14/50851-0)

NARDARI, GUILHERME V.; ROMERO, ROSELI A. F.; GUIZILINI, VITOR C.; MARECO, WILLY E. C.; MILORI, DEBORA M. B. P.; VILLAS-BOAS, PAULINO R.; DIAS SANTOS, IGOR ARAUJO; DONASCIMENTO, TP; COLOMBINI, EL; DEBRITO, AV; et al. Crop Anomaly Identification with Color Filters and Convolutional Neural Networks. 15TH LATIN AMERICAN ROBOTICS SYMPOSIUM 6TH BRAZILIAN ROBOTICS SYMPOSIUM 9TH WORKSHOP ON ROBOTICS IN EDUCATION (LARS/SBR/WRE 2018), v. N/A, p. 7-pg., 2018-01-01. (14/50851-0, 17/17444-0)

TOZADORE, DANIEL C.; RANIERI, CAETANO M.; NARDARI, GUILHERME V.; ROMERO, ROSELI A. F.; GUIZILINI, VITOR C.; IEEE. Effects of Emotion Grouping for Recognition in Human-Robot Interactions. 2018 7TH BRAZILIAN CONFERENCE ON INTELLIGENT SYSTEMS (BRACIS), v. N/A, p. 6-pg., 2018-01-01. (17/02377-5, 17/17444-0)

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

NARDARI, Guilherme Vicentim. Semantic localization and mapping in forests.. 2023. Doctoral Thesis - Universidade de São Paulo (USP). Instituto de Ciências Matemáticas e de Computação (ICMC/SB) São Carlos.