Next Article in Journal
Fabrication and Characterization of a Multichannel 3D Thermopile for Chip Calorimeter Applications
Next Article in Special Issue
New Calibration Method Using Low Cost MEM IMUs to Verify the Performance of UAV-Borne MMS Payloads
Previous Article in Journal
CENTERA: A Centralized Trust-Based Efficient Routing Protocol with Authentication for Wireless Sensor Networks
Previous Article in Special Issue
Cooperative Surveillance and Pursuit Using Unmanned Aerial Vehicles and Unattended Ground Sensors
Article Menu

Export Article

Open AccessArticle
Sensors 2015, 15(2), 3334-3350;

Mini-UAV Based Sensory System for Measuring Environmental Variables in Greenhouses

Centre for Automation and Robotics (UPM-CSIC), José Gutiérrez Abascal 2, 28006 Madrid, Spain
ENSTA ParisTech, Boulevard des Maréchaux, 828, 91120 Palaiseau, France
Author to whom correspondence should be addressed.
Received: 26 September 2014 / Revised: 19 January 2015 / Accepted: 26 January 2015 / Published: 2 February 2015
(This article belongs to the Special Issue UAV Sensors for Environmental Monitoring)
Full-Text   |   PDF [3902 KB, uploaded 2 February 2015]   |  


This paper describes the design, construction and validation of a mobile sensory platform for greenhouse monitoring. The complete system consists of a sensory system on board a small quadrotor (i.e., a four rotor mini-UAV). The goals of this system include taking measures of temperature, humidity, luminosity and CO2 concentration and plotting maps of these variables. These features could potentially allow for climate control, crop monitoring or failure detection (e.g., a break in a plastic cover). The sensors have been selected by considering the climate and plant growth models and the requirements for their integration onboard the quadrotor. The sensors layout and placement have been determined through a study of quadrotor aerodynamics and the influence of the airflows from its rotors. All components of the system have been developed, integrated and tested through a set of field experiments in a real greenhouse. The primary contributions of this paper are the validation of the quadrotor as a platform for measuring environmental variables and the determination of the optimal location of sensors on a quadrotor. View Full-Text
Keywords: greenhouse; UAVs; sensory system; environmental monitoring; agriculture; robotics greenhouse; UAVs; sensory system; environmental monitoring; agriculture; robotics

Graphical abstract

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
Printed Edition Available!
A printed edition of this Special Issue is available here.

Share & Cite This Article

MDPI and ACS Style

Roldán, J.J.; Joossen, G.; Sanz, D.; Del Cerro, J.; Barrientos, A. Mini-UAV Based Sensory System for Measuring Environmental Variables in Greenhouses. Sensors 2015, 15, 3334-3350.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics



[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top