A Case Study on Agriture: Distributed HLA-Based Architecture for Agricultural Robotics
In agricultural robotics, as in other robotic systems, one of the most important parts is the control architecture. This paper describes the definition of a new control architecture specially designed for groups of robots in charge of doing maintenance tasks in agricultural environments. This architecture has been developed having in mind principles as scalability, code reuse, abstraction hardware and data distribution. Moreover, it is important that the control architecture can allow coordination and cooperation among the different elements in the system. The architecture presented in this paper implements all these concepts by means of the integration of different systems, such as Player,…
A New HLA-Based Distributed Control Architecture for Agricultural Teams of Robots in Hybrid Applications with Real and Simulated Devices or Environments
The control architecture is one of the most important part of agricultural robotics and other robotic systems. Furthermore its importance increases when the system involves a group of heterogeneous robots that should cooperate to achieve a global goal. A new control architecture is introduced in this paper for groups of robots in charge of doing maintenance tasks in agricultural environments. Some important features such as scalability, code reuse, hardware abstraction and data distribution have been considered in the design of the new architecture. Furthermore, coordination and cooperation among the different elements in the system is allowed in the proposed control system. By integrating …
Improving RF Fingerprinting Methods by Means of D2D Communication Protocol
Radio Frequency (RF) fingerprinting is widely applied for indoor positioning due to the existing Wi-Fi infrastructure present in most indoor spaces (home, work, leisure, among others) and the widespread usage of smartphones everywhere. It corresponds to a simple idea, the signal signature in a location tends to be stable over the time. Therefore, with the signals received from multiple APs, a unique fingerprint can be created. However, the Wi-Fi signal is affected by many factors which degrade the positioning error range to around a few meters. This paper introduces a collaborative method based on device-to-device (D2D) communication to improve the positioning accuracy using only fingerprin…
Two-stage procedure based on smoothed ensembles of neural networks applied to weed detection in orange groves
The potential impacts of herbicide utilization compel producers to use new methods of weed control. The problem of how to reduce the amount of herbicide and yet maintain crop production has stimulated many researchers to study selective herbicide application. The key of selective herbicide application is how to discriminate the weed areas efficiently. We introduce a procedure for weed detection in orange groves which consists of two different stages. In the first stage, the main features in an image of the grove are determined (Trees, Trunks, Soil and Sky). In the second, the weeds are detected only in those areas which were determined as Soil in the first stage. Due to the characteristics …
Analysis of Received Signal Strength Quantization in Fingerprinting Localization
In recent times, Received Signal Strength (RSS)-based Wi-Fi fingerprinting localization has become one of the most promising techniques for indoor localization. The primary aim of RSS is to check the quality of the signal to determine the coverage and the quality of service. Therefore, fine-resolution RSS is needed, which is generally expressed by 1-dBm granularity. However, we found that, for fingerprinting localization, fine-granular RSS is unnecessary. A coarse-granular RSS can yield the same positioning accuracy. In this paper, we propose quantization for only the effective portion of the signal strength for fingerprinting localization. We found that, if a quantized RSS fingerprint can …