Abstract
The tasks of monitoring agricultural lands using multicopters, which have higher video capture speed, higher resolution, invariance to clouds and other advantages, are considered. The aim of the research is to develop formal model and algorithms for group control of heterogeneous robotic complexes, including unmanned aerial vehicles in solving agrarian problems. Based on the analysis of existing robotic solutions in the agricultural sector, the classification of the operations is given. A formal statement of the task of controlling a group of heterogeneous agricultural robots in a certain agricultural space is formulated. We have considered the parameters of a set of cultivated lands; the number of processing agricultural objects; a set of objects of basing and storage of robotic means; a set of cultivated crops; sets of heterogeneous robots; possible options for the approach of robots from the basing area to the cultivated territory, as well as a set of resource constraints.
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This work is partially supported by the Russian Foundation for Basic Research (grant № 16–08–00696).
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Vu, Q., Nguyen, V., Solenaya, O., Ronzhin, A. (2017). Group Control of Heterogeneous Robots and Unmanned Aerial Vehicles in Agriculture Tasks. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2017. Lecture Notes in Computer Science(), vol 10459. Springer, Cham. https://doi.org/10.1007/978-3-319-66471-2_28
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DOI: https://doi.org/10.1007/978-3-319-66471-2_28
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