Autonomous Unmanned Aerial Vehicles (UAVs) have gained popularity due to their many potential application fields. Alongside sophisticated sensors, UAVs can be equipped with communication adaptors aimed for inter-UAV communication. Inter-communication of UAVs to form a UAV swarm raises questions on how to manage its communication structure and mobility. In this paper, we consider therefore the problem of establishing an efficient swarm movement model and a network topology between a collection of UAVs, which are specifically deployed for the scenario of high-quality forest-mapping.
In this paper we demonstrate a new approach that uses regional continental MODIS (MODerate Resolution Imaging Spectroradiometer) derived forest cover products to calibrate Landsat data for exhaustive high spatial resolution mapping of forest cover and clearing in the Congo River Basin. The approach employs multi-temporal Landsat acquisitions to account for cloud cover, a primary limiting factor in humid tropical forest mapping. A Basin-wide MODIS 250 m Vegetation Continuous Field (VCF) percent tree cover product is used as a regionally consistent reference data set to train Landsat imagery. The approach is automated and greatly shortens mapping time. Results for approximately one third of the Congo Basin are shown. Derived high spatial resolution forest change estimates indicate that less than 1 of the forests were cleared from 1990 to 2000. However, forest clearing is spatially pervasive and fragmented in the landscapes studied to date, with implications for sustaining the region's biodiversity. The forest cover and change data are being used by the Central African Regional Program for the Environment (CARPE) program to study deforestation and biodiversity loss in the Congo Basin forest zone. Data from this study are available at http: carpe.umd.edu. This paper presents a cost-effective framework for the prototyping of vision-based quadrotor multi-robot systems, which core characteristics are: modularity, compatibility with different platforms and being flight-proven. The framework is fully operative, which is shown in the paper through simulations and real flight tests of up to 5 drones, and was demonstrated with the participation in an international micro-aerial vehicles competition 3 where it was awarded with the First Prize in the Indoors Autonomy Challenge. The motivation of this framework is to allow the developers to focus on their own research by decoupling the development of dependent modules, leading to a more cost-effective progress in the project. The basic instance of the framework that we propose, which is flight-proven with the cost-efficient and reliable platform Parrot AR Drone 2.0 and is open-source, includes several modules that can be reused and modified, such as: a basic sequential mission planner, a basic 2D trajectory planner, an odometry state estimator, localization and mapping modules which obtain absolute position measurements using visual markers, a trajectory controller and a visualization module. Teams of autonomous cooperating vehicles are well-suited for meeting the challenges associated with mobile marine sensor networks. Swarms built using a physicomimetics approach exhibit predictable behavior - an important benefit for extended duration deployments of autonomous ocean platforms. By using a decentralized control framework, we minimize energy consumption via short-range communication and self-contained on-board data processing, all without a specified leader. We introduce the task of autonomous surface vehicle (ASV) navigation inside a bioluminescent plume to motivate future study of how the agility and scalability of our physics-based solution can benefit a mobile distributed sensor network.