Please use this identifier to cite or link to this item:
https://hdl.handle.net/2440/140741
Type: | Journal article |
Title: | ConservationBots: Autonomous Aerial Robot for Fast Robust Wildlife Tracking in Complex Terrains |
Author: | Chen, F. Nguyen, H.V. Taggart, D.A. Falkner, K. Rezatofighi, S.H. Ranasinghe, D.C. |
Citation: | Journal of Field Robotics, 2023 |
Issue Date: | 2023 |
Abstract: | Today, the most widespread, widely applicable technology for gathering data relies on experienced scientists armed with handheld radio telemetry equipment to locate low-power radio transmitters attached to wildlife from the ground. Although aerial robots can transform labor-intensive conservation tasks, the realization of autonomous systems for tackling task complexities under real-world conditions remains a challenge. We developed ConservationBots-small aerial robots for tracking multiple, dynamic, radio-tagged wildlife. The aerial robot achieves robust localization performance and fast task completion times -- significant for energy-limited aerial systems while avoiding close encounters with potential, counter-productive disturbances to wildlife. Our approach overcomes the technical and practical problems posed by combining a lightweight sensor with new concepts: i) planning to determine both trajectory and measurement actions guided by an information-theoretic objective, which allows the robot to strategically select near-instantaneous range-only measurements to achieve faster localization, and time-consuming sensor rotation actions to acquire bearing measurements and achieve robust tracking performance; ii) a bearing detector more robust to noise and iii) a tracking algorithm formulation robust to missed and false detections experienced in real-world conditions. We conducted extensive studies: simulations built upon complex signal propagation over high-resolution elevation data on diverse geographical terrains; field testing; studies with wombats (Lasiorhinus latifrons; nocturnal, vulnerable species dwelling in underground warrens) and tracking comparisons with a highly experienced biologist to validate the effectiveness of our aerial robot and demonstrate the significant advantages over the manual method. |
Published version: | http://dx.doi.org/10.1002/rob.22270 |
Appears in Collections: | Aurora submissions |
Files in This Item:
File | Description | Size | Format | |
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2308.08104v3.pdf Restricted Access | 24.51 MB | Adobe PDF | View/Open |
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