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Sensors 2016, 16(7), 1018;

Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses

Centre for Automation and Robotics (UPM-CSIC), José Gutiérrez Abascal, 2, Madrid 28006, Spain
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 30 May 2016 / Revised: 23 June 2016 / Accepted: 25 June 2016 / Published: 1 July 2016
(This article belongs to the Special Issue Robotic Sensory Systems for Environment Protection and Conservation)
PDF [9050 KB, uploaded 1 July 2016]


The productivity of greenhouses highly depends on the environmental conditions of crops, such as temperature and humidity. The control and monitoring might need large sensor networks, and as a consequence, mobile sensory systems might be a more suitable solution. This paper describes the application of a heterogeneous robot team to monitor environmental variables of greenhouses. The multi-robot system includes both ground and aerial vehicles, looking to provide flexibility and improve performance. The multi-robot sensory system measures the temperature, humidity, luminosity and carbon dioxide concentration in the ground and at different heights. Nevertheless, these measurements can be complemented with other ones (e.g., the concentration of various gases or images of crops) without a considerable effort. Additionally, this work addresses some relevant challenges of multi-robot sensory systems, such as the mission planning and task allocation, the guidance, navigation and control of robots in greenhouses and the coordination among ground and aerial vehicles. This work has an eminently practical approach, and therefore, the system has been extensively tested both in simulations and field experiments. View Full-Text
Keywords: robotics; UGV; UAV; multi-robot; environmental monitoring; sensory system; griculture; greenhouse robotics; UGV; UAV; multi-robot; environmental monitoring; sensory system; griculture; greenhouse

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    Description: This video shows the experiments performed in this work.

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Roldán, J.J.; Garcia-Aunon, P.; Garzón, M.; De León, J.; Del Cerro, J.; Barrientos, A. Heterogeneous Multi-Robot System for Mapping Environmental Variables of Greenhouses. Sensors 2016, 16, 1018.

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