2 research outputs found
Experimental Comparative Analysis of Centralized vs. Decentralized Coordination of Aerial–Ground Robotic Teams for Agricultural Operations
No full textReliable and fast communication between unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) is essential for effective coordination in agricultural settings, particularly when human involvement is part of the system. This study systematically compares two communication architectures representing centralized and decentralized communication frameworks: (a) MAVLink (decentralized) and (b) Farm Management Information System (FMIS) (centralized). Field experiments were conducted in both empty field and orchard environments, using a rotary UAV for worker detection and a UGV responding to intent signaled through color-coded hats. Across 120 trials, the system performance was assessed in terms of communication reliability, latency, energy consumption, and responsiveness. FMIS consistently demonstrated higher message delivery success rates (97% in both environments) than MAVLink (83% in the empty field and 70% in the orchard). However, it resulted in higher UGV resource usage. Conversely, MAVLink achieved reduced UGV power draw and lower latency, but it was more affected by obstructed settings and also resulted in increased UAV battery consumption. In conclusion, MAVLink is suitable for time-sensitive operations that require rapid feedback, while FMIS is better suited for tasks that demand reliable communication in complex agricultural environments. Consequently, the selection between MAVLink and FMIS should be guided by the specific mission goals and environmental conditions
Mobile Robotics in Agricultural Operations: A Narrative Review on Planning Aspects
No full textThe advent of mobile robots in agriculture has signaled a digital transformation with new automation technologies optimize a range of labor-intensive, resources-demanding, and time-consuming agri-field operations. To that end a generally accepted technical lexicon for mobile robots is lacking as pertinent terms are often used interchangeably. This creates confusion among research and practice stakeholders. In addition, a consistent definition of planning attributes in automated agricultural operations is still missing as relevant research is sparse. In this regard, a “narrative” review was adopted (1) to provide the basic terminology over technical aspects of mobile robots used in autonomous operations and (2) assess fundamental planning aspects of mobile robots in agricultural environments. Based on the synthesized evidence from extant studies, seven planning attributes have been included: (i) high-level control-specific attributes, which include reasoning architecture, the world model, and planning level, (ii) operation-specific attributes, which include locomotion–task connection and capacity constraints, and (iii) physical robot-specific attributes, which include vehicle configuration and vehicle kinematics
