Autonomous Cooperative Control of Emergent Systems of Systems (ACCESS) Laboratory

Smart Farming Testbed

The ACCESS lab hosts a smart farming robotic platform including several agricultural UAV and UGVs equipped with required sensory tools which are detailed as follows:

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Aero-M fix-wing Agri-UAV
There are two Aero-M fix-wing Agri-UAV at the ACCESS lab, which platform offer 40 minute flight endurance which can cover a farm of 250 acres. This fix-wing UAV is equipped with a Canon S100 high-resolution 12 MP camera that can regularly acquire highly detailed and actionable data for large-scale operations such as farming. The data can be collected with the ground sampling distance of at least 2 inches per pixel and the Orthomosaic accuracy of at least 3-16 ft. The collected images then can be processed by Pix4Dmapper LT 3DR Edition software which is a capable tool to create highly accurate, georeferenced and orthorectified mosaics.

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X8-M Agri-UAV
There are two X8-M VTOL agri-UAVs at the ACCESS Lab. Since X8-M platform can fly and hover at a lower altitude and slower speeds, it can provide aerial maps with a higher resolution. It has a redundant propulsion system which will be used for implementation of our resilient control structure. In addition, the X8-M can take off and land in tight areas, which makes it suitable for different terrains particularly farms.

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Husky Agri-UGVs
The ACCESS lab hosts one Husky robot as a capable agricultural Unmanned Ground Vehicle (UGV). This UGV is engineered to thrive in harsh outdoor environments such as farms. It has four high-torque motors and rugged all-terrain tires suitable for challenging terrains and filed robotic experiments. We will use open-source Robot Operating System (ROS) to program this robot for complex autonomous farming missions. Its payload is 75 Kg, maximum speed 2.3 mph, and is equipped with GPS, IMU, Lidar and encoders for autonomous control. With its flexible payload mounting, easy to access on-board power and reconfigurable I/O, it is possible to upgrade/change this platform based on our needs for this project. Husky is designed with a scalable and open architecture making it the ideal platform for testing and developing multi-robot agricultural systems.

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Pix4Dmapper
The collected images will be processed by Pix4Dmapper LT 3DR Edition software which is a fully automatic mapping and modeling solution. The software can convert and join thousands of images to highly accurate, georeferenced and orthorectified 2D mosaics.