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Testing and Evaluation of Mobility Algorithms for an Aerial Robot

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Summary

Mobility Algorithms (Mapping, Localization, SLAM, Navigation) will be tested and evaluated on an Aerial robot

S00213
Version: 1.6

  • arable farming
  • horticulture
  • tree crops
  • viticulture
  • desk assessment
  • test design
  • test setup
  • test execution
  • performance evaluation
  • data analysis
  • physical system
  • design/documentation
  • other (including: nothing)
  • Location: in France
  • Offered by: INRIA

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Description

The infrastructure will offer the possibility to test and evaluate the mobility algorithms embedded on an aerial robot. Mobility Algorithms concerns the classical robotics functionalities of Mapping, Localization, SLAM, and Navigation. The aerial robot is equipped with an array of sensors, including Camera, LiDAR, IMU, and RTK-GPS (for the ground truth evaluation). The service consists of three main steps; to begin with, the algorithm is evaluated using representative datasets. After that, the algorithm is integrated in a ROS2 architecture and evaluated with the local agrifoodTEF test infrastructure (different areas are possible).  The performance of different attributes of the algorithm is evaluated with quantitative and qualitative metrics. A possibility of benchmarking will be proposed as a complementary option in order to position the performance of the proposed algorithm regarding the current state of the art. Whereas, the last step will be to perform the field-testing in real condition and in a particular end-user or customer site using the mobile living lab (it consists of a mobile laboratory going to the field connected with the real robot for monitoring and evaluation purposes).