Detection of irrigation inhomogeneities in an olive grove using the NDRE vegetation index obtained from UAV images

We have developed a simple photogrammetric method to identify heterogeneous areas of irrigated olive groves and vineyard crops using a commercial multispectral camera mounted on an unmanned aerial vehicle (UAV). By comparing NDVI, GNDVI, SAVI, and NDRE vegetation indices, we find that the latter shows irrigation irregularities in an olive grove not discernible with the other indices. This may render the NDRE as particularly useful to identify growth inhomogeneities in crops. Given the fact that few satellite detectors are sensible in the red-edge (RE) band and none with the spatial resolution offered by UAVs, this finding has the potential of turning UAVs into a local farmer’s favourite aid tool.Peer ReviewedPostprint (published version

Mitigating ground effect on mini quadcopters with model reference adaptive control

Mitigating ground effect becomes a big challenge for autonomous aerial vehicles when they are flying in close proximity to the ground. This paper aims to develop a precise model of ground effect on mini quadcopters, provide an advanced control algorithm to counter the model uncertainty and, as a result, improves the command tracking performance when the vehicle is in the ground effect region. The mathematical model of ground effect has been established through a series of experiments and validated by a flight test. The experiments show that the total thrust generated by rotors increases linearly as the vehicle gets closer to the ground, which is different from the commonly-used ground effect model for a single rotor vehicle. In addition, the model switches from a piecewise linear to a quadratic function when the rotor to rotor distance is increased. A control architecture that utilizes the model reference adaptive controller (MRAC) has also been designed, where MRAC is added to the altitude loop. The performance of the proposed control algorithm has been evaluated through a set of flight tests on a mini quadcopter platform and compared with a traditional proportional–integral–derivative (PID) controller. The results demonstrate that MRAC dramatically improves the tracking performance of altitude command and can reduce the rise time by 80 % under the ground effect

Detecting Invasive Insects with Unmanned Aerial Vehicles

A key aspect to controlling and reducing the effects invasive insect species have on agriculture is to obtain knowledge about the migration patterns of these species. Current state-of-the-art methods of studying these migration patterns involve a mark-release-recapture technique, in which insects are released after being marked and researchers attempt to recapture them later. However, this approach involves a human researcher manually searching for these insects in large fields and results in very low recapture rates. In this paper, we propose an automated system for detecting released insects using an unmanned aerial vehicle. This system utilizes ultraviolet lighting technology, digital cameras, and lightweight computer vision algorithms to more quickly and accurately detect insects compared to the current state of the art. The efficiency and accuracy that this system provides will allow for a more comprehensive understanding of invasive insect species migration patterns. Our experimental results demonstrate that our system can detect real target insects in field conditions with high precision and recall rates.Comment: IEEE ICRA 2019. 7 page

Drones: Innovative Technology for Use in Precision Pest Management.

Arthropod pest outbreaks are unpredictable and not uniformly distributed within fields. Early outbreak detection and treatment application are inherent to effective pest management, allowing management decisions to be implemented before pests are well-established and crop losses accrue. Pest monitoring is time-consuming and may be hampered by lack of reliable or cost-effective sampling techniques. Thus, we argue that an important research challenge associated with enhanced sustainability of pest management in modern agriculture is developing and promoting improved crop monitoring procedures. Biotic stress, such as herbivory by arthropod pests, elicits physiological defense responses in plants, leading to changes in leaf reflectance. Advanced imaging technologies can detect such changes, and can, therefore, be used as noninvasive crop monitoring methods. Furthermore, novel methods of treatment precision application are required. Both sensing and actuation technologies can be mounted on equipment moving through fields (e.g., irrigation equipment), on (un)manned driving vehicles, and on small drones. In this review, we focus specifically on use of small unmanned aerial robots, or small drones, in agricultural systems. Acquired and processed canopy reflectance data obtained with sensing drones could potentially be transmitted as a digital map to guide a second type of drone, actuation drones, to deliver solutions to the identified pest hotspots, such as precision releases of natural enemies and/or precision-sprays of pesticides. We emphasize how sustainable pest management in 21st-century agriculture will depend heavily on novel technologies, and how this trend will lead to a growing need for multi-disciplinary research collaborations between agronomists, ecologists, software programmers, and engineers

Development of canopy vigour maps using UAV for site-specific management during vineyard spraying process

Site-specific management of crops represents an important improvement in terms of efficiency and efficacy of the different labours, and its implementation has experienced a large development in the last decades, especially for field crops. The particular case of the spray application process for what are called “specialty crops” (vineyard, orchard fruits, citrus, olive trees, etc.)FI-DGR grant from Generalitat de Catalunya (2018 FI_B1 00083). Research and improvement of Dosaviña have been developed under LIFE PERFECT project: Pesticide Reduction using Friendly and Environmentally Controlled Technologies (LIFE17 ENV/ES/000205)This research was partially funded by the “Ajuts a les activitats de demostració (operació 01.02.01 de Transferència Tecnològica del Programa de desenvolupament rural de Catalunya 2014-2020)” and an FI-DGR grant from Generalitat de Catalunya (2018 FI_B1 00083). Research and improvement of Dosaviña have been developed under the LIFE PERFECT project: Pesticide Reduction using Friendly and Environmentally Controlled Technologies (LIFE17 ENV/ES/000205).This research was partially funded by the “Ajuts a les activitats de demostració (operació 01.02.01 de Transferència Tecnològica del Programa de desenvolupament rural de Catalunya 2014-2020)” and an FI-DGR grant from Generalitat de Catalunya (2018 FI_B1 00083). Research and improvement of Dosaviña have been developed under LIFE PERFECT project: Pesticide Reduction using Friendly and Environmentally Controlled Technologies (LIFE17 ENV/ES/000205)Postprint (updated version

Positional Precision Analysis of Orthomosaics Derived from Drone Captured Aerial Imagery

The advancement of drones has revolutionized the production of aerial imagery. Using a drone with its associated flight control and image processing applications, a high resolution orthorectified mosaic from multiple individual aerial images can be produced within just a few hours. However, the positional precision and accuracy of any orthomosaic produced should not be overlooked. In this project, we flew a DJI Phantom drone once a month over a seven-month period over Oak Grove Cemetery in Nacogdoches, Texas, USA resulting in seven orthomosaics of the same location. We identified 30 ground control points (GCPs) based on permanent features in the cemetery and recorded the geographic coordinates of each GCP on each of the seven orthomosaics. Analyzing the cluster of each GCP containing seven coincident positions depicts the positional precision of the orthomosaics. Our analysis is an attempt to answer the fundamental question, “Are we obtaining the same geographic coordinates for the same feature found on every aerial image mosaic captured by a drone over time?” The results showed that the positional precision was higher at the center of the orthomosaic compared to the edge areas. In addition, the positional precision was lower parallel to the direction of the drone flight

AgriColMap: Aerial-Ground Collaborative 3D Mapping for Precision Farming

The combination of aerial survey capabilities of Unmanned Aerial Vehicles with targeted intervention abilities of agricultural Unmanned Ground Vehicles can significantly improve the effectiveness of robotic systems applied to precision agriculture. In this context, building and updating a common map of the field is an essential but challenging task. The maps built using robots of different types show differences in size, resolution and scale, the associated geolocation data may be inaccurate and biased, while the repetitiveness of both visual appearance and geometric structures found within agricultural contexts render classical map merging techniques ineffective. In this paper we propose AgriColMap, a novel map registration pipeline that leverages a grid-based multimodal environment representation which includes a vegetation index map and a Digital Surface Model. We cast the data association problem between maps built from UAVs and UGVs as a multimodal, large displacement dense optical flow estimation. The dominant, coherent flows, selected using a voting scheme, are used as point-to-point correspondences to infer a preliminary non-rigid alignment between the maps. A final refinement is then performed, by exploiting only meaningful parts of the registered maps. We evaluate our system using real world data for 3 fields with different crop species. The results show that our method outperforms several state of the art map registration and matching techniques by a large margin, and has a higher tolerance to large initial misalignments. We release an implementation of the proposed approach along with the acquired datasets with this paper.Comment: Published in IEEE Robotics and Automation Letters, 201