Robot-Assisted Measurements in Data Sparse Regions

Abstract:

This work presents a methodology for topographic and bathymetric data collection using multiple robot platforms in the data sparse Arkavathy region around Bangalore, India. In the late 20th century, Arkavathy River flows began declining; consequently, a dependence on the Cauvery River has occurred while the reasons for the drying of the Arkavathy remain unknown. Understanding this shift is critical for managing local water resources, specifically for quantifying the socio-hydrologic effects of human intervention through the use of tanks which serve as a controlled method of irrigation for farmers. Determining the potential volume of water capable of being stored in these tanks can aid investigators to better understand hydrologic parameters such as recharge and streamflow. At present, satellite and LiDAR data are the two methods to collect topographic and bathymetric data for this region, but both options are either too poor of resolution or too costly. Small unmanned aerial vehicles (UAVs) and unmanned surface vehicles (USVs) were demonstrated as low-cost and reliable, high-resolution alternatives for surface data gathering at two locations in the Arkavathy basin during a Summer 2015 field campaign: i) Hadonahalli, and ii) SM Gollahalli. This robot-assisted approach for data gathering will be of interest to investigators in the geophysical sciences, especially those operating with budget constraints in data sparse regions.