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A robust maintenance of ecosystems demands for highly accurate and frequent monitoring of their status. The extension and remoteness of some environments renders their human-based monitoring extremely difficult. Riverine environments are a notorious example, as their sampling requires to bear into account both streams and riverbanks. The relevance of monitoring riverine environments is magnified by...
This paper presents RIVERWATCH, an autonomous surface-aerial marsupial robotic team for riverine environmental monitoring. The robotic system is composed of an Autonomous Surface Vehicle (ASV) piggybacking a multirotor Unmanned Aerial Vehicle (UAV) with vertical takeoff and landing capabilities. The ASV provides the team with longrange transportation in all-weather conditions, whereas the UAV assures...
This paper presents a method for 3-D based obstacle detection on autonomous vehicles navigating in vegetated environments. At its core three different methods processing the surrounding occupancy, taken at separate stages and volumetric resolutions, are combined to a reliable and broad solution. Geometric relationships are evaluated at a coarse, yet robust, volumetric representation to form an initial...
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