Watching Grass Grow: Long-term Visual Navigation and Mission Planning for Autonomous Biodiversity Monitoring

摘要

We describe a challenging robotics deployment in a complex ecosystem to monitor a rich plant community. The study site is dominated by dynamic grassland vegetation and is thus visually ambiguous and liable to drastic appearance change over the course of a day and especially through the growing season. This dynamism and complexity in appearance seriously impact the stability of the robotics platform, as localisation is a foundational part of that control loop, and so routes must be carefully taught and retaught until autonomy is robust and repeatable. Our system is demonstrated over a 6-week period monitoring the response of grass species to experimental climate change manipulations. We also discuss the applicability of our pipeline to monitor biodiversity in other complex natural settings.