Distributed multi-level supervision to effectively monitor the operations of a fleet of autonomous vehicles in agricultural tasks

Sensors (Switzerland)

Volumn 15, Issue 3, 2015, Pages 5402-5428

  Conesa Muñoz, Jesús ^a   Gonzalez de Soto, Mariano ^a   Gonzalez de Santos, Pablo ^a   Ribeiro, Angela ^a  

^a CENTRE FOR AUTOMATION AND ROBOTICS   (Spain)

Author keywords

Autonomous agricultural vehicle; Distributed multi level architecture; Fault detection; Fault recovery; Fleet of robots; Supervision system

Indexed keywords

AGRICULTURE; COMPUTER ARCHITECTURE; FAULT DETECTION; HERBICIDES; MECHANICAL ACTUATORS; THERMAL SPRAYING; VEHICLES; WEED CONTROL;

AGRICULTURAL VEHICLES; AUTONOMOUS AGRICULTURAL VEHICLES; DANGEROUS SITUATIONS; DETECTION AND REPAIRS; FAULT RECOVERY; MULTILEVELS; SERVICE DISRUPTIONS; SUPERVISION SYSTEMS;

FLEET OPERATIONS;

EID: 84928659593     PISSN: 14248220     EISSN: None     Source Type: Journal    
DOI: 10.3390/s150305402     Document Type: Article

References (40)

1. O’Connor, M.; Bell, T.; Elkaim, G.; Parkinson, B. Automatic steering of farm vehicles using GPS. Precis. Agric. 1996, 3, 767–777.
2. Rekow, A.K.W.; Ohlemeyer, H.; Automated Headland Turns the Next Step in Automated Agricultural Machines. In Landtechnik; Technik AgEng: Hannover, Germany, 2007; pp. 199–209.
3. Gomez-Gil, J.; Alonso-Garcia, S.; Gómez-Gil, F.J.; Stombaugh, T. A simple method to improve autonomous GPS positioning for tractors. Sensors 2011, 11, 5630–5644.
4. Rovira-Más, F.; Zhang, Q.; Reid, J.F.; Will, J.D. Machine vision based automated tractor guidance. Int. J. Smart Eng. Syst. Des. 2003, 5, 467–480.
5. Kise, M.; Zhang, Q.; Development of a stereovision sensing system for 3D crop row structure mapping and tractor guidance. Biosyst. Eng. 2008, 101, 191–198.
6. Perez-Ruiz, M.; Carballido, J.; Agüera, J.; Rodríguez-Lizana, A.; development and evaluation of a combined cultivator and band sprayer with a row-centering RTK-GPS guidance system. Sensors 2013, 13, 3313–3330.
7. Raffaelli, M.; Martelloni, L.; Frasconi, C.; Fontanelli, M.; Peruzzi, A. Development of Machines for Flaming Weed Control on Hard Surfaces. Appl. Eng. Agric. 2013, 29, 663–673.
8. Tellaeche, A.; BurgosArtizzu, X.P.; Pajares, G.; Ribeiro, A.; Fernández-Quintanilla, C. A new vision-based approach to differential spraying in precision agriculture. Comput. Electron. Agric. 2008, 60, 144–155.
9. Montalvo, M.; Pajares, G.; Guerrero, J.M.; Romeo, J.; Guijarro, M.; Ribeiro, A.; Ruz, J.J.; Cruz, J.M. Automatic detection of crop rows in maize fields with high weeds pressure. Expert Syst. Appl. 2012, 39, 11889–11897.
10. Guerrero, J.M.; Guijarro, M.; Montalvo, M.; Romeo, J.; Emmi, L.; Ribeiro, A.; Pajares, G. Automatic expert system based on images for accuracy crop row detection in maize fields. Expert Syst. Appl. 2013, 40, 656–664.
11. Peña, J.M.; Torres-Sánchez, J.; de Castro, A.I.; Kelly, M.; López-Granados, F.; Weed Mapping in Early-Season Maize Fields Using Object-Based Analysis of Unmanned Aerial Vehicle (UAV) Images. PLoS One 2013, 8, doi:10.1371/journal.pone.0077151.
12. Torres-Sánchez, J.; Peña, J.M.; de Castro, A.I.; López-Granados, F. Multi-temporal mapping of the vegetation fraction in early-season wheat fields using images from UAV. Comput. Electron. Agric. 2014, 103, 104–113.
13. De Castro, A.I.; López-Granados, F.; Jurado-Expósito, M. Broad-scale cruciferous weed patch classification in winter wheat using QuickBird imagery for in-season site-specific control. Precis. Agric. 2013, 14, 392–413.
14. Rabatel, G.; Gorretta, N.; Labbé, S.; Getting simultaneous red and near-infrared band data from a single digital camera for plant monitoring applications: Theoretical and practical study. Biosyst. Eng. 2014, 117, 2–14.
15. RHEA Rhea Project. Available online: http://www.rhea-project.eu/ (accessed on 23 December 2014).
16. Pérez-Ruiz, M.; Gonzalez-de-Santos, P.; Ribeiro, A.; Fernandez-Quintanilla, C.; Peruzzi, A.; Vieri, M.; Tomic, S.; Agüera, J. Highlights and preliminary results for autonomous crop protection. Comput. Electron. Agric. 2015, 110, 150–161.
17. Gonzalez-de-Santos, P.; Ribeiro, A.; Fernandez-Quintanilla, C.; Dorado, J. Assessing a fleet of robots for herbicide applications. In Proceedings of the International Conference on Agricultural Engineering, Zurich, Switzerland, 6–10 July 2014.
18. Saffiotti, A.; Handling uncertainty in control of autonomous robots. In Applications of Uncertainty Formalisms; Springer: Berlin, Germany, 1998; pp. 198–224.
19. Gertler, J.; Fault Detection and Diagnosis in Engineering Systems; CRC Press: New York, NY, USA, 1998.
20. Chiang, L.H.; Braatz, R.D.; Russell, E.L. Fault Detection and Diagnosis in Industrial Systems; Springer: London, UK, 2001.
21. Williams, B.C.; Nayak, P.P.; A model-based approach to reactive self-configuring systems. In Proceedings of the National Conference on Artificial Intelligence, Portland, OR, USA, 4–8 August 1996; pp. 971–978.
22. Simmons, R.; Fernandez, J.L.; Goodwin, R.; Koenig, S.; O’sullivan, J. Lessons learned from Xavier. IEEE Robot. Autom. Mag. 2000, 7, 33–39.
23. McCarthy, C.E.; Pollack, M.E. Towards focused plan monitoring: A technique and an application to mobile robots. Autono. Robots 2000, 9, 71–81.
24. Kawabata, K.; Akamatsu, T.; Asama, H. A study of self-diagnosis system of an autonomous mobile robot: Expansion of state sensory systems. In Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems, Lausanne, Switzerland, 30 September–4 October 2002; Volume 2, pp. 1802–1807.
25. Dearden, R.; Willeke, T.; Simmons, R.; Verma, V.; Hutter, F.; Thrun, S.; Real-time fault detection and situational awareness for rovers: Report on the mars technology program task. In Proceedings of the 2004 IEEE Conference on Aerospace, Big Sky, MT, USA, 6–13 March 2004; Volume 2, pp. 826–840.
26. Pettersson, O.; Karlsson, L.; Saffiotti, A.; Model-Free Execution Monitoring in Behavior-Based Mobile Robotics; Örebro University: Örebro, Sweden, 2004.
27. Pettersson, O.; Karlsson, L.; Saffiotti, A. Model-free execution monitoring by learning from simulation. In proceedings of the 2005 IEEE International Symposium on Computational Intelligence in Robotics and Automation (CIRA), Espoo, Finland, 27–30 June 2005; pp. 505–511.
28. Ranganathan, N.; Patel, M.I.; Sathyamurthy, R. An intelligent system for failure detection and control in an autonomous underwater vehicle. IEEE Trans. Syst. Man Cybern. Part A Syst. Hum. 2001, 31, 762–767.
29. Emmi, L.; Gonzalez-de-Soto, M.; Pajares, G.; Gonzalez-de-Santos, P. New Trends in Robotics for Agriculture: Integration and Assessment of a Real Fleet of Robots. Sci. World J. 2014, 2014, 1–21.
30. Emmi, L.; Gonzalez-de-Soto, M.; Pajares, G.; Gonzalez-de-Santos, P. Integrating Sensory/Actuation Systems in Agricultural Vehicles. Sensors 2014, 14, 4014–4049.
31. Carballido, J.; Perez-Ruiz, M.; Gliever, C.; Agüera, J.; Design, development and lab evaluation of a weed control sprayer to be used in robotic systems. In Proceedings of the First International Conference on Robotic and Associated High-Technologies and Equipment for Agriculture, Pisa, Italy, 19–21 September 2012; Volume 1, pp. 23–29.
32. Peruzzi, A.; Frasconi, C.; Martelloni, L.; Fontanelli, M.; Raffaelli, M. Application of precision flaming to maize and garlic in the RHEA project. In Proceedings of the 1st International Conference on Robotics and Associated High-Technologies and Equipment for Agriculture, RHEA-2012, Pisa, Italy, 19–21 September 2012; Volume 1, pp. 55–60.
33. Montalvo, M.; Guerrero, J.M.; Romeo, J.; Emmi, L.; Guijarro, M.; Pajares, G. Automatic expert system for weeds/crops identification in images from maize fields. Expert Syst. Appl. 2013, 40, 75–82.
34. Romeo, J.; Guerrero, J.M.; Montalvo, M.; Emmi, L.; Guijarro, M.; Gonzalez-de-Santos, P.; Pajares, G. Camera sensor arrangement for crop/weed detection accuracy in agronomic images. Sensors 2013, 13, 4348–4366.
35. Vieri, M.; Lisci, R.; Rimediotti, M.; Sarri, D. The RHEA-project robot for tree crops pesticide application. In Proceedings of the 10th AIIA Conference, Viterbo, Italy, 2013.
36. Vieri, M.; Lisci, R.; Rimediotti, M.; Sarri, D. The innovative RHEA airblast sprayer for tree crop treatment. In Proceedings of the First International Conference on Robotic and Associated High-Technologies and Equipment for Agriculture, Pisa, Italy, 19–21 September 2012; Volume 1, pp. 93–98.
37. Qt Project. Available online: http://qt-project.org/ (accessed on 27 January 2015).
38. Webots 8. Available online: https://www.cyberbotics.com/webots/(accessed on 27 January 2015).
39. Spraying Mission Test. Available online: www.youtube.com/watch?v=FfDHA-Jmfrc (accessed on 27 January 2015).
40. Collision Supervisor Test. Available online: www.youtube.com/watch?v=XeMrMdKyGiY (accessed on 27 January 2015).