Integrating remote sensing datasets into ecological modelling: a Bayesian approach

Process-based models have been used to simulate 3-dimensional complexities of forest ecosystems and their temporal changes, but their extensive data requirement and complex parameterisation have often limited their use for practical management applications. Increasingly, information retrieved using remote sensing techniques can help in model parameterisation and data collection by providing spatially and temporally resolved forest information. In this paper, we illustrate the potential of Bayesian calibration for integrating such data sources to simulate forest production. As an example, we use the 3-PG model combined with hyperspectral, LiDAR, SAR and field-based data to simulate the growth of UK Corsican pine stands. Hyperspectral, LiDAR and SAR data are used to estimate LAI dynamics, tree height and above ground biomass, respectively, while the Bayesian calibration provides estimates of uncertainties to model parameters and outputs. The Bayesian calibration contrasts with goodness-of-fit approaches, which do not provide uncertainties to parameters and model outputs. Parameters and the data used in the calibration process are presented in the form of probability distributions, reflecting our degree of certainty about them. After the calibration, the distributions are updated. To approximate posterior distributions (of outputs and parameters), a Markov Chain Monte Carlo sampling approach is used (25 000 steps). A sensitivity analysis is also conducted between parameters and outputs. Overall, the results illustrate the potential of a Bayesian framework for truly integrative work, both in the consideration of field-based and remotely sensed datasets available and in estimating parameter and model output uncertainties

Obstacle-aware Adaptive Informative Path Planning for UAV-based Target Search

Target search with unmanned aerial vehicles (UAVs) is relevant problem to many scenarios, e.g., search and rescue (SaR). However, a key challenge is planning paths for maximal search efficiency given flight time constraints. To address this, we propose the Obstacle-aware Adaptive Informative Path Planning (OA-IPP) algorithm for target search in cluttered environments using UAVs. Our approach leverages a layered planning strategy using a Gaussian Process (GP)-based model of target occupancy to generate informative paths in continuous 3D space. Within this framework, we introduce an adaptive replanning scheme which allows us to trade off between information gain, field coverage, sensor performance, and collision avoidance for efficient target detection. Extensive simulations show that our OA-IPP method performs better than state-of-the-art planners, and we demonstrate its application in a realistic urban SaR scenario.Comment: Paper accepted for International Conference on Robotics and Automation (ICRA-2019) to be held at Montreal, Canad