Canopy Measurements with a Small Unmanned Aerial System

Abstract:

This work discusses the use of a small unmanned aerial system (UAS) for the remote placement of wireless environmental sensors in tree canopies. Remote presence applications occur when one or more humans use a robot to project themselves into an environment in order to complete an inaccessible or time-critical mission. The more difficult problem of physical object manipulation goes one step further by incorporating physical-based interaction, in additional to visualization. Forested environments present especially unique challenges for small UAS versus similar domains (e.g., disaster response, inspection of critical infrastructure) due to the navigation and interaction required with dense tree canopies. This work describes two field investigations that inform: i) the type of physical object manipulation and visualization necessary for sensor placement (ventral, frontal, dorsal), ii) the necessary display form (hybrid) for piloting and sensor placement, and iii) visual feedback mechanisms useful for handling human-robot team role conflicts.