Online localization of radio-tagged wildlife with an autonomous aerial robot system

Cliff, OM; Fitch, R; Sukkarieh, S; Saunders, DL; Heinsohn, R

Online localization of radio-tagged wildlife with an autonomous aerial robot system

Cliff, OM Fitch, R

Sukkarieh, S Saunders, DL Heinsohn, R

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Publication Type:: Conference Proceeding
Citation:: Robotics: Science and Systems, 2015, 11
Issue Date:: 2015-01-01

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Field	Value	Language
dc.contributor.author	Cliff, OM	en_US
dc.contributor.author	Fitch, R https://orcid.org/0000-0003-2215-5188	en_US
dc.contributor.author	Sukkarieh, S	en_US
dc.contributor.author	Saunders, DL	en_US
dc.contributor.author	Heinsohn, R	en_US
dc.date.issued	2015-01-01	en_US
dc.identifier.citation	Robotics: Science and Systems, 2015, 11	en_US
dc.identifier.isbn	9780992374716	en_US
dc.identifier.uri	http://hdl.handle.net/10453/121195
dc.description.abstract	© 2015, MIT Press Journals. All rights reserved. The application of autonomous robots to efficiently locate small wildlife species has the potential to provide significant ecological insights not previously possible using traditional land-based survey techniques, and a basis for improved conservation policy and management. We present an approach for autonomously localizing radio-tagged wildlife using a small aerial robot. We present a novel two-point phased array antenna system that yields unambiguous bearing measurements and an associated uncertainty measure. Our estimation and information-based planning algorithms incorporate this bearing uncertainty to choose observation points that improve confidence in the location estimate. These algorithms run online in real time and we report experimental results that show successful autonomous localization of stationary radio tags and live radio-tagged birds.	en_US
dc.relation.ispartof	Robotics: Science and Systems	en_US
dc.relation.isbasedon	10.15607/RSS.2015.XI.042	en_US
dc.title	Online localization of radio-tagged wildlife with an autonomous aerial robot system	en_US
dc.type	Conference Proceeding
utslib.citation.volume	11	en_US
utslib.for	080101 Adaptive Agents and Intelligent Robotics	en_US
utslib.for	091303 Autonomous Vehicles	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	11	en_US

Abstract:

© 2015, MIT Press Journals. All rights reserved. The application of autonomous robots to efficiently locate small wildlife species has the potential to provide significant ecological insights not previously possible using traditional land-based survey techniques, and a basis for improved conservation policy and management. We present an approach for autonomously localizing radio-tagged wildlife using a small aerial robot. We present a novel two-point phased array antenna system that yields unambiguous bearing measurements and an associated uncertainty measure. Our estimation and information-based planning algorithms incorporate this bearing uncertainty to choose observation points that improve confidence in the location estimate. These algorithms run online in real time and we report experimental results that show successful autonomous localization of stationary radio tags and live radio-tagged birds.

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http://hdl.handle.net/10453/121195