3D Soil Compaction Mapping through Kriging-based Exploration with a\n Mobile Robot Article Swipe
Jaime Pulido Fentanes
,
Iain Gould
,
Tom Duckett
,
Simon Pearson
,
Grzegorz Cielniak
·
YOU?
·
· 2018
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1803.08069
YOU?
·
· 2018
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.1803.08069
This paper presents an automated method for creating spatial maps of soil\ncondition with an outdoor mobile robot. Effective soil mapping on farms can\nenhance yields, reduce inputs and help protect the environment. Traditionally,\ndata are collected manually at an arbitrary set of locations, then soil maps\nare constructed offline using Kriging, a form of Gaussian process regression.\nThis process is laborious and costly, limiting the quality and resolution of\nthe resulting information. Instead, we propose to use an outdoor mobile robot\nfor automatic collection of soil condition data, building soil maps online and\nalso adapting the robot's exploration strategy on-the-fly based on the current\nquality of the map. We show how using Kriging variance as a reward function for\nrobotic exploration allows for both more efficient data collection and better\nsoil models. This work presents the theoretical foundations for our proposal\nand an experimental comparison of exploration strategies using soil compaction\ndata from a field generated with a mobile robot.\n
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Metadata
- Type
- preprint
- Landing Page
- http://arxiv.org/abs/1803.08069
- https://arxiv.org/pdf/1803.08069
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4299334784
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Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4299334784Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.1803.08069Digital Object Identifier
- Title
-
3D Soil Compaction Mapping through Kriging-based Exploration with a\n Mobile RobotWork title
- Type
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preprintOpenAlex work type
- Publication year
-
2018Year of publication
- Publication date
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2018-03-21Full publication date if available
- Authors
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Jaime Pulido Fentanes, Iain Gould, Tom Duckett, Simon Pearson, Grzegorz CielniakList of authors in order
- Landing page
-
https://arxiv.org/abs/1803.08069Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/1803.08069Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/1803.08069Direct OA link when available
- Concepts
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Kriging, Mobile robot, Computer science, Gaussian process, Robot, Environmental science, Data mining, Artificial intelligence, Gaussian, Machine learning, Quantum mechanics, PhysicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
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0Total citation count in OpenAlex
- Related works (count)
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10Other works algorithmically related by OpenAlex
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