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Deusdado, P., Guedes, M., Silva, A., Marques, F., Pinto, E., Rodrigues, P....Flores, L. (2016). Sediment sampling in estuarine mudflats with an aerial-ground robotic team. Sensors. 16 (9)

P. Deusdado et al.,  "Sediment sampling in estuarine mudflats with an aerial-ground robotic team", in Sensors, vol. 16, no. 9, 2016

@article{deusdado2016_1715017478139,
	author = "Deusdado, P. and Guedes, M. and Silva, A. and Marques, F. and Pinto, E. and Rodrigues, P. and Lourenço, A. and Mendonça, R. and Santana, P. and Corisco, J. and Almeida, S. M. and Portugal, L. and Caldeira, R. and Barata, J. and Flores, L.",
	title = "Sediment sampling in estuarine mudflats with an aerial-ground robotic team",
	journal = "Sensors",
	year = "2016",
	volume = "16",
	number = "9",
	doi = "10.3390/s16091461",
	url = "http://www.mdpi.com/1424-8220/16/9/1461"
}

TY  - JOUR
TI  - Sediment sampling in estuarine mudflats with an aerial-ground robotic team
T2  - Sensors
VL  - 16
IS  - 9
AU  - Deusdado, P.
AU  - Guedes, M.
AU  - Silva, A.
AU  - Marques, F.
AU  - Pinto, E.
AU  - Rodrigues, P.
AU  - Lourenço, A.
AU  - Mendonça, R.
AU  - Santana, P.
AU  - Corisco, J.
AU  - Almeida, S. M.
AU  - Portugal, L.
AU  - Caldeira, R.
AU  - Barata, J.
AU  - Flores, L.
PY  - 2016
SN  - 1424-8220
DO  - 10.3390/s16091461
UR  - http://www.mdpi.com/1424-8220/16/9/1461
AB  - This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is used by remote human operators for specifying the robotic mission and supervising its execution. This is crucial for the success of an environmental monitoring study, as often it depends on human expertise to ensure the statistical significance and accuracy of the sampling procedures. Although the literature is rich on environmental monitoring sampling procedures, in mudflats, there is a gap as regards including robotic elements. This paper closes this gap by also proposing a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Field trials in the south bank of the river Tagus’ estuary show the ability of the robotic system to successfully extract and transport bottom sediment samples for offline analysis. The results also show the efficiency of the extraction and the benefits when compared to (conventional) human-based sampling.
ER  -