Application of Robot Formation Scheme for Screening Solar Energy in a Greenhouse
Many agricultural and especially greenhouse
applications like plant inspection, data gathering, spraying and
selective harvesting could be performed by robots. In this paper
multiple nonholonomic robots are used in order to create a desired
formation scheme for screening solar energy in a greenhouse through
data gathering. The formation consists from a leader and a team
member equipped with appropriate sensors. Each robot is dedicated
to its mission in the greenhouse that is predefined by the
requirements of the application. The feasibility of the proposed
application includes experimental results with three unmanned
ground vehicles (UGV).
[1] T. Balch and R. C. Arkin, "Behavior-Based Formation Control for
Multirobot Teams," IEEE Trans. On Robotics and Automation, vol. 14,
no. 6, pp. 926-939, Dec. 1998.
[2] G. Belforte, R. Deboli, P. Gay, P. Piccarolo, D. Ricauda Aimonino,
"Robot Design and Testing for Greenhouse Applications", Biosystems
Engineering, vol. 95, no. 3, pp. 309-321, 2006.
[3] H. Chia-Hung and A. Liu, "Multiple teams for mobile robot formation
control", Proceedings of IEEE International Symbosium on Intelligent
Control, 2004.
[4] Y. I. Cui, E. J. Hahn, T. Kozai, K. Y. Paek, "Number of air exchanges,
sucrose concentration, photosynthetic photon flux, and differences in
photoperiod and dark period temperatures affect growth of Rehmannia
glutinosa plantlets in vitro", Plant Cell Tiss. Org. Cult. 62, pp. 219-226.
2000.
[5] J. P. Desai, J. Ostrowski and V. Kumar, "Controlling Formations of
Multiple Robots", Proc of the IEEE International Conerence on
Robotics and Automation, Leuven, Belgium, May 1998.
[6] H. Z. Enoch, Y. Enoch, "The history and geography of the greenhouse",
in Stanhil, G., Enoch, H.Z. (Eds.), Greenhouse Ecosystems, Ecosystems
of the World 20, Elsevier, Amsterdam, 1999, pp. 1-15.
[7] B. von Eslner, D. Briassoulis, D. Waaijenberg, A. Mistriotis, Chr. von
Zabeltizt, J. Gratraud and von Eslner, "Mechanical properties of
covering materials for greenhouses. Part 1. General overview", J. Agric.
Eng. Res., vol. 67, pp. 81-96, 2000.
[8] E. J. Van Henten, J. Hemming, B. A. J. Van Tuijl, J. G. Kornet, J.
Bontsema, "Collision-free Motion Planning for a Cucumber Picking
Robot", Biosystems Engineering, vol. 86, no. 2, pp. 135-144, 2003.
[9] M. Hoenecke, R. J. Bula, T. W., Tibbitts, "Importance of ÔÇÿblue- photon
levels for lettuce seedlings grown under red light-emitting diodes",
HortScience, vol. 27, pp. 427-430. 1992.
[10] Kalovrektis, K., Gkotsinas, A., Glossas, N., and Assimakis, N.,
Communication of independent robotic grippers for safe hand-over of
fragile objects, 12th International Workshop on Systems, Signals and
Image Processing, 22 - 24 September 2005, Chalkis, Greece.
[11] W. Kang, N. Xi, Y. Zhao, J. Tan and Y. Wang, "Formation control of
multiple autonomous vehicles: Theory and experimentation,
Proceedings of IFAC 15th Triennial World Congress, 2002.
[12] T. Kozai, C. Kubota, B. R. Jeong, "Environmental control for large-scale
production of plants through in vitro techniques", Plant Cell Tiss. Org.
Cult. 51, pp. 49-56, 1997.
[13] D. Mulvaney, Y. Wang and I. Sillitoe, "Waypoint-based Mobile Robot
Navigation," in Proc. 6th World Conress on Intelligent Control and
Automation, Dalian, China, June 21-23, 2006, pp. 9063-9067.
[14] Nguyen, Q.T., Kozai, T., Niu, G., Nguyen, U.V., 1999. Photosynthetic
characteristics of coffee (Coffea arabusta) plantlets in vitro in response
to different CO2 concentrations and light intensities. Plant Cell Tiss.
Org. Cult. 55, 133-139.
[15] C. Reynolds, "Flocks, herbs and schools: a distributed behavioural
model," Computer Graphics, vol. 21, no. 4, pp. 25-34, 1987.
[16] R. Rosa, "Solar and thermal radiation inside a multispan greenhouse", J.
Agric. Eng. Res., vol. 40, pp. 285-295, 1988.
[17] M. Y. Roh, Y. B. Lee, "Control of amount and frequency of irrigation
according to integrated solar radiation in cucumber substrate culture",
Acta Horticulturae, vol. 440, pp. 332-337, 1996.
[18] A. Saebo, T. Krekling, M. Appelgren, "Light quality affects
photosynthesis and leaf anatomy of birch plantlets in vitro", Plant Cell
Tiss. Org. Cult, 41, pp. 177-185, 1995.
[19] P. J. Sammons, T. Furukawa, A. Bulgin, "Autonomous Pesticide
Spraying Robot for use in a Greenhouse", Australian Conference on
Robotics and Automation, 2005.
[20] G. Stanhill, A. J. Scholte, "Solar radiation and water loss from
glasshouse roses", Journal of American Society of Horticultural Science,
vol. 99, pp. 107-110, 1974.
[21] D. J. Tennessen, E. L. Singsaas, T. D. Sharkey, "Light-emitting diodes
as a light source for photosynthesis research", Photosynth. Res, vol. 39,
pp. 85-92, 1994.
[1] T. Balch and R. C. Arkin, "Behavior-Based Formation Control for
Multirobot Teams," IEEE Trans. On Robotics and Automation, vol. 14,
no. 6, pp. 926-939, Dec. 1998.
[2] G. Belforte, R. Deboli, P. Gay, P. Piccarolo, D. Ricauda Aimonino,
"Robot Design and Testing for Greenhouse Applications", Biosystems
Engineering, vol. 95, no. 3, pp. 309-321, 2006.
[3] H. Chia-Hung and A. Liu, "Multiple teams for mobile robot formation
control", Proceedings of IEEE International Symbosium on Intelligent
Control, 2004.
[4] Y. I. Cui, E. J. Hahn, T. Kozai, K. Y. Paek, "Number of air exchanges,
sucrose concentration, photosynthetic photon flux, and differences in
photoperiod and dark period temperatures affect growth of Rehmannia
glutinosa plantlets in vitro", Plant Cell Tiss. Org. Cult. 62, pp. 219-226.
2000.
[5] J. P. Desai, J. Ostrowski and V. Kumar, "Controlling Formations of
Multiple Robots", Proc of the IEEE International Conerence on
Robotics and Automation, Leuven, Belgium, May 1998.
[6] H. Z. Enoch, Y. Enoch, "The history and geography of the greenhouse",
in Stanhil, G., Enoch, H.Z. (Eds.), Greenhouse Ecosystems, Ecosystems
of the World 20, Elsevier, Amsterdam, 1999, pp. 1-15.
[7] B. von Eslner, D. Briassoulis, D. Waaijenberg, A. Mistriotis, Chr. von
Zabeltizt, J. Gratraud and von Eslner, "Mechanical properties of
covering materials for greenhouses. Part 1. General overview", J. Agric.
Eng. Res., vol. 67, pp. 81-96, 2000.
[8] E. J. Van Henten, J. Hemming, B. A. J. Van Tuijl, J. G. Kornet, J.
Bontsema, "Collision-free Motion Planning for a Cucumber Picking
Robot", Biosystems Engineering, vol. 86, no. 2, pp. 135-144, 2003.
[9] M. Hoenecke, R. J. Bula, T. W., Tibbitts, "Importance of ÔÇÿblue- photon
levels for lettuce seedlings grown under red light-emitting diodes",
HortScience, vol. 27, pp. 427-430. 1992.
[10] Kalovrektis, K., Gkotsinas, A., Glossas, N., and Assimakis, N.,
Communication of independent robotic grippers for safe hand-over of
fragile objects, 12th International Workshop on Systems, Signals and
Image Processing, 22 - 24 September 2005, Chalkis, Greece.
[11] W. Kang, N. Xi, Y. Zhao, J. Tan and Y. Wang, "Formation control of
multiple autonomous vehicles: Theory and experimentation,
Proceedings of IFAC 15th Triennial World Congress, 2002.
[12] T. Kozai, C. Kubota, B. R. Jeong, "Environmental control for large-scale
production of plants through in vitro techniques", Plant Cell Tiss. Org.
Cult. 51, pp. 49-56, 1997.
[13] D. Mulvaney, Y. Wang and I. Sillitoe, "Waypoint-based Mobile Robot
Navigation," in Proc. 6th World Conress on Intelligent Control and
Automation, Dalian, China, June 21-23, 2006, pp. 9063-9067.
[14] Nguyen, Q.T., Kozai, T., Niu, G., Nguyen, U.V., 1999. Photosynthetic
characteristics of coffee (Coffea arabusta) plantlets in vitro in response
to different CO2 concentrations and light intensities. Plant Cell Tiss.
Org. Cult. 55, 133-139.
[15] C. Reynolds, "Flocks, herbs and schools: a distributed behavioural
model," Computer Graphics, vol. 21, no. 4, pp. 25-34, 1987.
[16] R. Rosa, "Solar and thermal radiation inside a multispan greenhouse", J.
Agric. Eng. Res., vol. 40, pp. 285-295, 1988.
[17] M. Y. Roh, Y. B. Lee, "Control of amount and frequency of irrigation
according to integrated solar radiation in cucumber substrate culture",
Acta Horticulturae, vol. 440, pp. 332-337, 1996.
[18] A. Saebo, T. Krekling, M. Appelgren, "Light quality affects
photosynthesis and leaf anatomy of birch plantlets in vitro", Plant Cell
Tiss. Org. Cult, 41, pp. 177-185, 1995.
[19] P. J. Sammons, T. Furukawa, A. Bulgin, "Autonomous Pesticide
Spraying Robot for use in a Greenhouse", Australian Conference on
Robotics and Automation, 2005.
[20] G. Stanhill, A. J. Scholte, "Solar radiation and water loss from
glasshouse roses", Journal of American Society of Horticultural Science,
vol. 99, pp. 107-110, 1974.
[21] D. J. Tennessen, E. L. Singsaas, T. D. Sharkey, "Light-emitting diodes
as a light source for photosynthesis research", Photosynth. Res, vol. 39,
pp. 85-92, 1994.
@article{"International Journal of Information, Control and Computer Sciences:54722", author = "George K. Fourlas and Konstantinos Kalovrektis and Evangelos Fountas", title = "Application of Robot Formation Scheme for Screening Solar Energy in a Greenhouse", abstract = "Many agricultural and especially greenhouse
applications like plant inspection, data gathering, spraying and
selective harvesting could be performed by robots. In this paper
multiple nonholonomic robots are used in order to create a desired
formation scheme for screening solar energy in a greenhouse through
data gathering. The formation consists from a leader and a team
member equipped with appropriate sensors. Each robot is dedicated
to its mission in the greenhouse that is predefined by the
requirements of the application. The feasibility of the proposed
application includes experimental results with three unmanned
ground vehicles (UGV).", keywords = "Greenhouses application, robot formation, solarenergy.", volume = "3", number = "9", pages = "2224-7", }
