A Review on UAV-Based Applications for Precision Agriculture

Vision-Based UAV Detection and Localization to Indoor Positioning System

In recent years, the technological landscape has undergone a profound metamorphosis catalyzed by the widespread integration of drones across diverse sectors. Essential to the drone manufacturing process is comprehensive testing, typically conducted in controlled laboratory settings to uphold safety and privacy standards. However, a formidable challenge emerges due to the inherent limitations of GPS signals within indoor environments, posing a threat to the accuracy of drone positioning. This limitation not only jeopardizes testing validity but also introduces instability and inaccuracies, compromising the assessment of drone performance. Given the pivotal role of precise GPS-derived data in drone autopilots, addressing this indoor-based GPS constraint is imperative to ensure the reliability and resilience of unmanned aerial vehicles (UAVs). This paper delves into the implementation of an Indoor Positioning System (IPS) leveraging computer vision. The proposed system endeavors to detect and localize UAVs within indoor environments through an enhanced vision-based triangulation approach. A comparative analysis with alternative positioning methodologies is undertaken to ascertain the efficacy of the proposed system. The results obtained showcase the efficiency and precision of the designed system in detecting and localizing various types of UAVs, underscoring its potential to advance the field of indoor drone navigation and testing.

Agriculture and environmental management through nanotechnology: Eco-friendly nanomaterial synthesis for soil-plant systems, food safety, and sustainability

Through the advancement of nanotechnology, agricultural and food systems are undergoing strategic enhancements, offering innovative solutions to complex problems. This scholarly essay thoroughly examines nanotechnological innovations and their implications within these critical industries. Traditional practices are undergoing radical transformation as nanomaterials emerge as novel agents in roles traditionally filled by fertilizers, pesticides, and biosensors. Micronutrient management and preservation techniques are further enhanced, indicating a shift towards more nutrient-dense and longevity-oriented food production. Nanoparticles (NPs), with their unique physicochemical properties, such as an extraordinary surface-to-volume ratio, find applications in healthcare, diagnostics, agriculture, and other fields. However, concerns about their potential overuse and bioaccumulation raise unanswered questions about their health effects. Molecule-to-molecule interactions and physicochemical dynamics create pathways through which nanoparticles cause toxicity. The combination of nanotechnology and environmental sustainability principles leads to the examination of green nanoparticle synthesis. The discourse extends to how nanomaterials penetrate biological systems, their applications, toxicological effects, and dissemination routes. Additionally, this examination delves into the ecological consequences of nanomaterial contamination in natural ecosystems. Employing robust risk assessment methodologies, including the risk allocation framework, is recommended to address potential dangers associated with nanotechnology integration. Establishing standardized, universally accepted guidelines for evaluating nanomaterial toxicity and protocols for nano-waste disposal is urged to ensure responsible stewardship of this transformative technology. In conclusion, the article summarizes global trends, persistent challenges, and emerging regulatory strategies shaping nanotechnology in agriculture and food science. Sustained, in-depth research is crucial to fully benefit from nanotechnology prospects for sustainable agriculture and food systems.

An improved algorithm based on YOLOv5 for detecting Ambrosia trifida in UAV images

A YOLOv5-based YOLOv5-KE unmanned aerial vehicle (UAV) image detection algorithm is proposed to address the low detection accuracy caused by the small size, high density, and overlapping leaves of Ambrosia trifida targets in UAV images. The YOLOv5-KE algorithm builds upon the YOLOv5 algorithm by adding a micro-scale detection layer, adjusting the hierarchical detection settings based on k-Means for Anchor Box, improving the loss function of CIoU, reselecting and improving the detection box fusion algorithm. Comparative validation experiments of the YOLOv5-KE algorithm for Ambrosia trifida recognition were conducted using a self-built dataset. The experimental results show that the best detection accuracy of Ambrosia trifida in UAV images is 93.9%, which is 15.2% higher than the original YOLOv5. Furthermore, this algorithm also outperforms other existing object detection algorithms such as YOLOv7, DC-YOLOv8, YOLO-NAS, RT-DETR, Faster RCNN, SSD, and Retina Net. Therefore, YOLOv5-KE is a practical algorithm for detecting Ambrosia trifida under complex field conditions. This algorithm shows good potential in detecting weeds of small, high-density, and overlapping leafy targets in UAV images, it could provide technical reference for the detection of similar plants.

Relationship between Height and Exposure in Multispectral Vegetation Index Response and Product Characteristics in a Traditional Olive Orchard

The present research had two aims. The first was to evaluate the effect of height and exposure on the vegetative response of olive canopies' vertical axis studied through a multispectral sensor and on the qualitative and quantitative product characteristics. The second was to examine the relationship between multispectral data and productive characteristics. Six olive plants were sampled, and their canopy's vertical axis was subdivided into four sectors based on two heights (Top and Low) and two exposures (West and East). A ground-vehicle-mounted multispectral proximal sensor (OptRx from AgLeader®) was used to investigate the different behaviours of the olive canopy vegetation index (VI) responses in each sector. A selective harvest was performed, in which each plant and sector were harvested separately. Product characterisation was conducted to investigate the response of the products (both olives and oils) in each sector. The results of Tukey's test (p > 0.05) showed a significant effect of height for the VI responses, with the Low sector obtaining higher values than the Top sector. The olive product showed some height and exposure effect, particularly for the olives' dimension and resistance to detachment, which was statistically higher in the upper part of the canopies. The regression studies highlighted some relationships between the VIs and product characteristics, particularly for resistance to detachments (R2 = 0.44-0.63), which can affect harvest management. In conclusion, the results showed the complexity of the olive canopies' response to multispectral data collection, highlighting the need to study the vertical axis to assess the variability of the canopy itself. The relationship between multispectral data and product characteristics must be further investigated.

Advancing horizons in vegetable cultivation: a journey from ageold practices to high-tech greenhouse cultivation-a review

Vegetable cultivation stands as a pivotal element in the agricultural transformation illustrating a complex interplay between technological advancements, evolving environmental perspectives, and the growing global demand for food. This comprehensive review delves into the broad spectrum of developments in modern vegetable cultivation practices. Rooted in historical traditions, our exploration commences with conventional cultivation methods and traces the progression toward contemporary practices emphasizing the critical shifts that have refined techniques and outcomes. A significant focus is placed on the evolution of seed selection and quality assessment methods underlining the growing importance of seed treatments in enhancing both germination and plant growth. Transitioning from seeds to the soil, we investigate the transformative journey from traditional soil-based cultivation to the adoption of soilless cultures and the utilization of sustainable substrates like biochar and coir. The review also examines modern environmental controls highlighting the use of advanced greenhouse technologies and artificial intelligence in optimizing plant growth conditions. We underscore the increasing sophistication in water management strategies from advanced irrigation systems to intelligent moisture sensing. Additionally, this paper discusses the intricate aspects of precision fertilization, integrated pest management, and the expanding influence of plant growth regulators in vegetable cultivation. A special segment is dedicated to technological innovations, such as the integration of drones, robots, and state-of-the-art digital monitoring systems, in the cultivation process. While acknowledging these advancements, the review also realistically addresses the challenges and economic considerations involved in adopting cutting-edge technologies. In summary, this review not only provides a comprehensive guide to the current state of vegetable cultivation but also serves as a forward-looking reference emphasizing the critical role of continuous research and the anticipation of future developments in this field.

Use of remote sensing for linkage mapping and genomic prediction for common rust resistance in maize

Breeding for disease resistance is a central component of strategies implemented to mitigate biotic stress impacts on crop yield. Conventionally, genotypes of a plant population are evaluated through a labor-intensive process of assigning visual scores (VS) of susceptibility (or resistance) by specifically trained staff, which limits manageable volumes and repeatability of evaluation trials. Remote sensing (RS) tools have the potential to streamline phenotyping processes and to deliver more standardized results at higher through-put. Here, we use a two-year evaluation trial of three newly developed biparental populations of maize doubled haploid lines (DH) to compare the results of genomic analyses of resistance to common rust (CR) when phenotyping is either based on conventional VS or on RS-derived (vegetation) indices. As a general observation, for each population × year combination, the broad sense heritability of VS was greater than or very close to the maximum heritability across all RS indices. Moreover, results of linkage mapping as well as of genomic prediction (GP), suggest that VS data was of a higher quality, indicated by higher - log p values in the linkage studies and higher predictive abilities for genomic prediction. Nevertheless, despite the qualitative differences between the phenotyping methods, each successfully identified the same genomic region on chromosome 10 as being associated with disease resistance. This region is likely related to the known CR resistance locus Rp1. Our results indicate that RS technology can be used to streamline genetic evaluation processes for foliar disease resistance in maize. In particular, RS can potentially reduce costs of phenotypic evaluations and increase trialing capacities.

Inspection of Floating Offshore Wind Turbines Using Multi-Rotor Unmanned Aerial Vehicles: Literature Review and Trends

Operations and maintenance (O&M) of floating offshore wind turbines (FOWTs) require regular inspection activities to predict, detect, and troubleshoot faults at high altitudes and in harsh environments such as strong winds, waves, and tides. Their costs typically account for more than 30% of the lifetime cost due to high labor costs and long downtime. Different inspection methods, including manual inspection, permanent sensors, climbing robots, remotely operated vehicles (ROVs), and unmanned aerial vehicles (UAVs), can be employed to fulfill O&M missions. The UAVs, as an enabling technology, can deal with time and space constraints easily and complete tasks in a cost-effective and efficient manner, which have been widely used in different industries in recent years. This study provides valuable insights into the existing applications of UAVs in FOWT inspection, highlighting their potential to reduce the inspection cost and thereby reduce the cost of energy production. The article introduces the rationale for applying UAVs to FOWT inspection and examines the current technical status, research gaps, and future directions in this field by conducting a comprehensive literature review over the past 10 years. This paper will also include a review of UAVs' applications in other infrastructure inspections, such as onshore wind turbines, bridges, power lines, solar power plants, and offshore oil and gas fields, since FOWTs are still in the early stages of development. Finally, the trends of UAV technology and its application in FOWTs inspection are discussed, leading to our future research direction.

Maize plant detection using UAV-based RGB imaging and YOLOv5

In recent years, computer vision (CV) has made enormous progress and is providing great possibilities in analyzing images for object detection, especially with the application of machine learning (ML). Unmanned Aerial Vehicle (UAV) based high-resolution images allow to apply CV and ML methods for the detection of plants or their organs of interest. Thus, this study presents a practical workflow based on the You Only Look Once version 5 (YOLOv5) and UAV images to detect maize plants for counting their numbers in contrasting development stages, including the application of a semi-auto-labeling method based on the Segment Anything Model (SAM) to reduce the burden of labeling. Results showed that the trained model achieved a mean average precision (mAP@0.5) of 0.828 and 0.863 for the 3-leaf stage and 7-leaf stage, respectively. YOLOv5 achieved the best performance under the conditions of overgrown weeds, leaf occlusion, and blurry images, suggesting that YOLOv5 plays a practical role in obtaining excellent performance under realistic field conditions. Furthermore, introducing image-rotation augmentation and low noise weight enhanced model accuracy, with an increase of 0.024 and 0.016 mAP@0.5, respectively, compared to the original model of the 3-leaf stage. This work provides a practical reference for applying lightweight ML and deep learning methods to UAV images for automated object detection and characterization of plant growth under realistic environments.

UAV-based individual plant detection and geometric parameter extraction in vineyards

Accurately characterizing vineyard parameters is crucial for precise vineyard management and breeding purposes. Various macroscopic vineyard parameters are required to make informed management decisions, such as pesticide application, defoliation strategies, and determining optimal sugar content in each berry by assessing biomass. In this paper, we present a novel approach that utilizes point cloud data to detect trunk positions and extract macroscopic vineyard characteristics, including plant height, canopy width, and canopy volume. Our approach relies solely on geometric features and is compatible with different training systems and data collected using various 3D sensors. To evaluate the effectiveness and robustness of our proposed approach, we conducted extensive experiments on multiple grapevine rows trained in two different systems. Our method provides more comprehensive canopy characteristics than traditional manual measurements, which are not representative throughout the row. The experimental results demonstrate the accuracy and efficiency of our method in extracting vital macroscopic vineyard characteristics, providing valuable insights for yield monitoring, grape quality optimization, and strategic interventions to enhance vineyard productivity and sustainability.

Maize Production under Drought Stress: Nutrient Supply, Yield Prediction

Maize yield forecasting is important for the organisation of harvesting and storage, for the estimation of the commodity base and for the provision of the country's feed and food demand (export-import). To this end, a field experiment was conducted in dry (2021) and extreme dry (2022) years to track the development of the crop to determine the evolution of the relative chlorophyll content (SPAD) and leaf area index (LAI) for better yield estimation. The obtained results showed that SPAD and LAI decreased significantly under drought stress, and leaf senescence had already started in the early vegetative stage. The amount of top dressing applied at V6 and V12 phenophases did not increase yield due to the low amount of rainfall. The 120 kg N ha-1 base fertiliser proved to be optimal. The suitability of SPAD and LAI for maize yield estimation was modelled by regression analysis. Results showed that the combined SPAD-LAI was suitable for yield prediction, and the correlation was strongest at the VT stage (R2 = 0.762).

Phenomic selection in slash pine multi-temporally using UAV-multispectral imagery

Genomic selection (GS) is an option for plant domestication that offers high efficiency in improving genetics. However, GS is often not feasible for long-lived tree species with large and complex genomes. In this paper, we investigated UAV multispectral imagery in time series to evaluate genetic variation in tree growth and developed a new predictive approach that is independent of sequencing or pedigrees based on multispectral imagery plus vegetation indices (VIs) for slash pine. Results show that temporal factors have a strong influence on the h2 of tree growth traits. High genetic correlations were found in most months, and genetic gain also showed a slight influence on the time series. Using a consistent ranking of family breeding values, optimal slash pine families were selected, obtaining a promising and reliable predictive ability based on multispectral+VIs (MV) alone or on the combination of pedigree and MV. The highest predictive value, ranging from 0.52 to 0.56, was found in July. The methods described in this paper provide new approaches for phenotypic selection (PS) using high-throughput multispectral unmanned aerial vehicle (UAV) technology, which could potentially be used to reduce the generation time for conifer species and increase the genetic granularity independent of sequencing or pedigrees.

Monitoring and risk analysis of residual pesticides drifted by unmanned aerial spraying

This study aimed to investigate the residual characteristics of pesticides drifted by unmanned aerial spray according to buffer strip, windbreak, and morphological characteristics of non-target crops, suggest prevention for drift reduction, and finally conduct a risk analysis on pesticides exceeding the maximum residue limit (MRL) or uniform level (0.01 mg/kg) of the positive list system (PLS). Non-target crops were collected around the aerial sprayed area (paddy rice) in Boryeong, Seocheon, and Pyeongtaek after UAV spray. When pesticides were detected in more than three samples, Duncan's multiple range test was performed. In cases where pesticides were detected in only two samples, an independent sample t-test was conducted (p < 0.05). The drift rate of pesticides tends to decrease by up to 100% as the buffer distance from aerial sprayed area increases or when a windbreak, such as maize, is present between two locations. Thus, the reduction of drifted pesticides could be effective if both factors were applied near the UAV spray area. Moreover, the residue of drifted pesticides was found to be the highest in leafy vegetables such as perilla leaves or leaf and stem vegetables such as Welsh onion, followed by fruit vegetables and cucurbits, owing to the morphological characteristics of crops. Therefore, selecting pulse or cereal such as soybean or maize as a farm product near the UAV spray area can be considered to minimize the drift. For pesticides that exceed the MRL or PLS uniform level, %acceptable dietary intake is 0-0.81% with no risk. Additionally, employing pesticides approved for both paddy rice and farm products in UAV spraying can effectively minimize instances where MRL or PLS are exceeded. Therefore, this study aims to provide farmers with effective guidelines for mitigating drift. Furthermore, we strive to promote stable and uninterrupted food production while facilitating the utilization of agricultural technologies such as UAV spraying to address labor shortages and ensure sustainable food security.

Rapid Assessment of Insect Pest Outbreak Using Drones: A Case Study with Spodoptera exigua (Hübner) (Lepidoptera: Noctuidae) in Soybean Fields

Rapid assessment of crop damage is essential for successful management of insect pest outbreaks. In this study, we investigated the use of an unmanned aircraft system (UAS) and image analyses to assess an outbreak of the beet armyworm, Spodoptera exigua (Hübner) (Lepidoptera: Noctuidae), that occurred in soybean fields in South Korea. A rotary-wing UAS was deployed to obtain a series of aerial images over 31 soybean blocks. The images were stitched together to generate composite imagery, followed by image analyses to quantify soybean defoliation. An economic analysis was conducted to compare the cost of the aerial survey with that of a conventional ground survey. The results showed that the aerial survey precisely estimated the defoliation compared to the ground survey, with an estimated defoliation of 78.3% and a range of 22.4-99.8% in the 31 blocks. Moreover, the aerial survey followed by image analyses was found to be more economical than the conventional ground survey when the number of target soybean blocks subject to the survey was more than 15 blocks. Our study clearly demonstrated the effectiveness of using an autonomous UAS and image analysis to conduct a low-cost aerial survey of soybean damage caused by S. exigua outbreaks, which can inform decision-making for S. exigua management.

Smallholder oil palm plantation sustainability assessment using multi-criteria analysis and unmanned aerial vehicles

Oil palm agriculture has caused extensive land cover and land use changes that have adversely affected tropical landscapes and ecosystems. However, monitoring and assessment of oil palm plantation areas to support sustainable management is costly and labour-intensive. This study used an unmanned aerial vehicles (UAV) to map smallholder farms and applied multi-criteria analysis to data generated from orthomosaics, to provide a set of sustainability indicators for the farms. Images were acquired from a UAV, with structure from motion (SfM) photogrammetry then used to produce orthomosaics and digital elevation models of the farm areas. Some of the inherent problems using high spatial resolution imagery for land cover classification were overcome by using texture analysis and geographic object-based image analysis (OBIA). Six spatially explicit environmental metrics were developed using multi-criteria analysis and used to generate sustainability indicator layers from the UAV data. The SfM and OBIA approach provided an accurate, high-resolution (~5 cm) image-based reconstruction of smallholder farm landscapes, with an overall classification accuracy of 89%. The multi-criteria analysis highlighted areas with lower sustainability values, which should be considered targets for adoption of sustainable management practices. The results of this work suggest that UAVs are a cost-effective tool for sustainability assessments of oil palm plantations, but there remains the need to plan surveys and image processing workflows carefully. Future work can build on our proposed approach, including the use of additional and/or alternative indicators developed through consultation with the oil palm industry stakeholders, to support certification schemes such as the Roundtable on Sustainable Palm Oil (RSPO).

The q-rung fuzzy LOPCOW-VIKOR model to assess the role of unmanned aerial vehicles for precision agriculture realization in the Agri-Food 4.0 era

Smart agriculture is gaining a lot of attention recently, owing to technological advancement and promotion of sustainable habits. Unmanned aerial vehicles (UAVs) play a crucial role in smart agriculture by aiding in different phases of agriculture. The contribution of UAVs to sustainable and precision agriculture is a critical and challenging issue to be taken into account, particularly for smallholder farmers in order to save time and money, and improve their agricultural skills. Thence, this study targets to propose an integrated group decision-making framework to determine the best agricultural UAV. Previous studies on UAV evaluation, (i) could not model uncertainty effectively, (ii) weights of experts are not methodically determined; (iii) importance of experts and criteria types are not considered during criteria weight calculation, and (iv) personalized ranking of UAVs is lacking along with consideration to dual weight entities. Herein, nine critical selection criteria are identified, drawing upon the relevant literature and experts' opinions, and five extant UAVs are considered for evaluation. To circumvent the gaps, in this work, a new integrated framework is developed considering q-rung orthopair fuzzy numbers (q-ROFNs) for apt UAV selection. Specifically, methodical estimation of experts' weights is achieved by presenting the regret measure. Further, weighted logarithmic percentage change-driven objective weighting (LOPCOW) technique is formulated for criteria weight calculation, and an algorithm for personalized ranking of UAVs is presented with visekriterijumska optimizacija i kompromisno resenje (VIKOR) approach combined with Copeland strategy. The findings show that the foremost criteria in agricultural UAV selection are "camera," "power system," and "radar system," respectively. Further, it is inferred that the most promising UAV is the DJ AGRAS T30. Since the applicability of UAV in agriculture will get inevitable, the developed framework can be an effective decision support system for farmers, managers, policymakers, and other stakeholders.

A Real-Time Registration Algorithm of UAV Aerial Images Based on Feature Matching

This study aimed to achieve the accurate and real-time geographic positioning of UAV aerial image targets. We verified a method of registering UAV camera images on a map (with the geographic location) through feature matching. The UAV is usually in rapid motion and involves changes in the camera head, and the map is high-resolution and has sparse features. These reasons make it difficult for the current feature-matching algorithm to accurately register the two (camera image and map) in real time, meaning that there will be a large number of mismatches. To solve this problem, we used the SuperGlue algorithm, which has a better performance, to match the features. The layer and block strategy, combined with the prior data of the UAV, was introduced to improve the accuracy and speed of feature matching, and the matching information obtained between frames was introduced to solve the problem of uneven registration. Here, we propose the concept of updating map features with UAV image features to enhance the robustness and applicability of UAV aerial image and map registration. After numerous experiments, it was proved that the proposed method is feasible and can adapt to the changes in the camera head, environment, etc. The UAV aerial image is stably and accurately registered on the map, and the frame rate reaches 12 frames per second, which provides a basis for the geo-positioning of UAV aerial image targets.

BotanicX-AI: Identification of Tomato Leaf Diseases Using an Explanation-Driven Deep-Learning Model

Early and accurate tomato disease detection using easily available leaf photos is essential for farmers and stakeholders as it help reduce yield loss due to possible disease epidemics. This paper aims to visually identify nine different infectious diseases (bacterial spot, early blight, Septoria leaf spot, late blight, leaf mold, two-spotted spider mite, mosaic virus, target spot, and yellow leaf curl virus) in tomato leaves in addition to healthy leaves. We implemented EfficientNetB5 with a tomato leaf disease (TLD) dataset without any segmentation, and the model achieved an average training accuracy of 99.84% ± 0.10%, average validation accuracy of 98.28% ± 0.20%, and average test accuracy of 99.07% ± 0.38% over 10 cross folds.The use of gradient-weighted class activation mapping (GradCAM) and local interpretable model-agnostic explanations are proposed to provide model interpretability, which is essential to predictive performance, helpful in building trust, and required for integration into agricultural practice.

Automated Estimation of Crop Yield Using Artificial Intelligence and Remote Sensing Technologies

Agriculture is the backbone of any country, and plays a viable role in the total gross domestic product (GDP). Healthy and fruitful crops are of immense importance for a government to fulfill the food requirements of its inhabitants. Because of land diversities, weather conditions, geographical locations, defensive measures against diseases, and natural disasters, monitoring crops with human intervention becomes quite challenging. Conventional crop classification and yield estimation methods are ineffective under unfavorable circumstances. This research exploits modern precision agriculture tools for enhanced remote crop yield estimation, and types classification by proposing a fuzzy hybrid ensembled classification and estimation method using remote sensory data. The architecture enhances the pooled images with fuzzy neighborhood spatial filtering, scaling, flipping, shearing, and zooming. The study identifies the optimal weights of the strongest candidate classifiers for the ensembled classification method adopting the bagging strategy. We augmented the imagery datasets to achieve an unbiased classification between different crop types, including jute, maize, rice, sugarcane, and wheat. Further, we considered flaxseed, lentils, rice, sugarcane, and wheat for yield estimation on publicly available datasets provided by the Food and Agriculture Organization (FAO) of the United Nations and the Word Bank DataBank. The ensemble method outperformed the individual classification methods for crop type classification on an average of 13% and 24% compared to the highest gradient boosting and lowest decision tree methods, respectively. Similarly, we observed that the gradient boosting predictor outperformed the multivariate regressor, random forest, and decision tree regressor, with a comparatively lower mean square error value on yield years 2017 to 2021. Further, the proposed architecture supports embedded devices, where remote devices can adopt a lightweight classification algorithm, such as MobilenetV2. This can significantly reduce the processing time and overhead of a large set of pooled images.

Estimation of tomato water status with photochemical reflectance index and machine learning: Assessment from proximal sensors and UAV imagery

Tracking plant water status is a critical step towards the adaptive precision irrigation management of processing tomatoes, one of the most important specialty crops in California. The photochemical reflectance index (PRI) from proximal sensors and the high-resolution unmanned aerial vehicle (UAV) imagery provide an opportunity to monitor the crop water status efficiently. Based on data from an experimental tomato field with intensive aerial and plant-based measurements, we developed random forest machine learning regression models to estimate tomato stem water potential (ψ _stem), (using observations from proximal sensors and 12-band UAV imagery, respectively, along with weather data. The proximal sensor-based model estimation agreed well with the plant ψ _stem with R ² of 0.74 and mean absolute error (MAE) of 0.63 bars. The model included PRI, normalized difference vegetation index, vapor pressure deficit, and air temperature and tracked well with the seasonal dynamics of ψ _stem across different plots. A separate model, built with multiple vegetation indices (VIs) from UAV imagery and weather variables, had an R ² of 0.81 and MAE of 0.67 bars. The plant-level ψ _stem maps generated from UAV imagery closely represented the water status differences of plots under different irrigation treatments and also tracked well the temporal change among flights. PRI was found to be the most important VI in both the proximal sensor- and the UAV-based models, providing critical information on tomato plant water status. This study demonstrated that machine learning models can accurately estimate the water status by integrating PRI, other VIs, and weather data, and thus facilitate data-driven irrigation management for processing tomatoes.

A cooperative scheme for late leaf spot estimation in peanut using UAV multispectral images

In Australia, peanuts are mainly grown in Queensland with tropical and subtropical climates. The most common foliar disease that poses a severe threat to quality peanut production is late leaf spot (LLS). Unmanned aerial vehicles (UAVs) have been widely investigated for various plant trait estimations. The existing works on UAV-based remote sensing have achieved promising results for crop disease estimation using a mean or a threshold value to represent the plot-level image data, but these methods might be insufficient to capture the distribution of pixels within a plot. This study proposes two new methods, namely measurement index (MI) and coefficient of variation (CV), for LLS disease estimation on peanuts. We first investigated the relationship between the UAV-based multispectral vegetation indices (VIs) and the LLS disease scores at the late growth stages of peanuts. We then compared the performances of the proposed MI and CV-based methods with the threshold and mean-based methods for LLS disease estimation. The results showed that the MI-based method achieved the highest coefficient of determination and the lowest error for five of the six chosen VIs whereas the CV-based method performed the best for simple ratio (SR) index among the four methods. By considering the strengths and weaknesses of each method, we finally proposed a cooperative scheme based on the MI, the CV and the mean-based methods for automatic disease estimation, demonstrated by applying this scheme to the LLS estimation in peanuts.

A Comparison of Deep Neural Networks for Monocular Depth Map Estimation in Natural Environments Flying at Low Altitude

Currently, the use of Unmanned Aerial Vehicles (UAVs) in natural and complex environments has been increasing, because they are appropriate and affordable solutions to support different tasks such as rescue, forestry, and agriculture by collecting and analyzing high-resolution monocular images. Autonomous navigation at low altitudes is an important area of research, as it would allow monitoring parts of the crop that are occluded by their foliage or by other plants. This task is difficult due to the large number of obstacles that might be encountered in the drone's path. The generation of high-quality depth maps is an alternative for providing real-time obstacle detection and collision avoidance for autonomous UAVs. In this paper, we present a comparative analysis of four supervised learning deep neural networks and a combination of two for monocular depth map estimation considering images captured at low altitudes in simulated natural environments. Our results show that the Boosting Monocular network is the best performing in terms of depth map accuracy because of its capability to process the same image at different scales to avoid loss of fine details.

3D Global Path Planning Optimization for Cellular-Connected UAVs under Link Reliability Constraint

This paper proposes an effective global path planning technique for cellular-connected UAVs to enhance the reliability of unmanned aerial vehicles' (UAVs) flights operating beyond the visual line of sight (BVLOS). Cellular networks are considered one of the leading enabler technologies to provide a ubiquitous and reliable communication link for UAVs. First, this paper investigates a reliable aerial zone based on an extensive aerial drive test in a 4G network within a suburban environment. Then, the path planning problem for the cellular-connected UAVs is formulated under communication link reliability and power consumption constraints. To provide a realistic optimization solution, all constraints of the optimization problem are defined based on real-world scenarios; in addition, the presence of static obstacles and no-fly zones is considered in the path planning problem. Two powerful intelligent optimization algorithms, the genetic algorithm (GA) and the particle swarm optimization (PSO) algorithm, are used to solve the defined optimization problem. Moreover, a combination of both algorithms, referred to as PSO-GA, is used to overcome the inherent shortcomings of the algorithms. The performances of the algorithms are compared under different scenarios in simulation environments. According to the statistical analysis of the aerial drive test, existing 4G base stations are able to provide reliable aerial coverage up to a radius of 500 m and a height of 85 m. The statistical analysis of the optimization results shows that PSO-GA is a more stable and effective algorithm to rapidly converge to a feasible solution for UAV path planning problems, with a far faster execution time compared with PSO and GA, about two times. To validate the performance of the proposed solution, the simulation results are compared with the real-world aerial drive test results. The results comparison proves the effectiveness of the proposed path planning method in suburban environments with 4G coverage. The proposed method can be extended by identifying the aerial link reliability of 5G networks to solve the UAV global path planning problem in the current 5G deployment.

High-Resolution UAV RGB Imagery Dataset for Precision Agriculture and 3D Photogrammetric Reconstruction Captured over a Pistachio Orchard (Pistacia vera L.) in Spain

A total of 248 UAV RGB images were taken in the summer of 2021 over a representative pistachio orchard in Spain (X: 341450.3, Y: 4589731.8; ETRS89/UTM zone 30N). It is a 2.03 ha plot, planted in 2016 with Pistacia vera L. cv. Kerman grafted on UCB rootstock, with a NE–SW orientation and a 7 × 6 m triangular planting pattern. The ground was kept free of any weeds that could affect image processing. The photos (provided in JPG format) were taken using a UAV DJI Phantom Advance quadcopter in two flight missions: one planned to take nadir images (β = 0°), and another to take oblique images (β = 30°), both at 55 metres above the ground. The aerial platform incorporates a DJI FC6310 RGB camera with a 20 megapixel sensor, a horizontal field of view of 84° and a mechanical shutter. In addition, GCPs (ground control points) were collected. Finally, a high-quality 3D photogrammetric reconstruction process was carried out to generate a 3D point cloud (provided in LAS, LAZ, OBJ and PLY formats), a DEM (digital elevation model) and an orthomosaic (both in TIF format). The interest in using remote sensing in precision agriculture is growing, but the availability of reliable, ready-to-work, downloadable datasets is limited. Therefore, this dataset could be useful for precision agriculture researchers interested in photogrammetric reconstruction who want to evaluate models for orthomosaic and 3D point cloud generation from UAV missions with changing flight parameters, such as camera angle.

Performance and Accuracy Comparisons of Classification Methods and Perspective Solutions for UAV-Based Near-Real-Time "Out of the Lab" Data Processing

Today, integration into automated systems has become a priority in the development of remote sensing sensors carried on drones. For this purpose, the primary task is to achieve real-time data processing. Increasing sensor resolution, fast data capture and the simultaneous use of multiple sensors is one direction of development. However, this poses challenges on the data processing side due to the increasing amount of data. Our study intends to investigate how the running time and accuracy of commonly used image classification algorithms evolve using Altum Micasense multispectral and thermal acquisition data with GSD = 2 cm spatial resolution. The running times were examined for two PC configurations, with a 4 GB and 8 GB DRAM capacity, respectively, as these parameters are closer to the memory of NRT microcomputers and laptops, which can be applied "out of the lab". During the accuracy assessment, we compared the accuracy %, the Kappa index value and the area ratio of correct pixels. According to our results, in the case of plant cover, the Spectral Angles Mapper (SAM) method achieved the best accuracy among the validated classification solutions. In contrast, the Minimum Distance (MD) method achieved the best accuracy on water surface. In terms of temporality, the best results were obtained with the individually constructed decision tree classification. Thus, it is worth developing these two directions into real-time data processing solutions.

Prediction of Strawberry Dry Biomass from UAV Multispectral Imagery Using Multiple Machine Learning Methods

Biomass is a key biophysical parameter for precision agriculture and plant breeding. Fast, accurate and non-destructive monitoring of biomass enables various applications related to crop growth. In this paper, strawberry dry biomass weight was modeled using 4 canopy geometric parameters (area, average height, volume, standard deviation of height) and 25 spectral variables (5 band original reflectance values and 20 vegetation indices (VIs)) extracted from the Unmanned Aerial Vehicle (UAV) multispectral imagery. Six regression techniques—multiple linear regression (MLR), random forest (RF), support vector machine (SVM), multivariate adaptive regression splines (MARS), eXtreme Gradient Boosting (XGBoost) and artificial neural network (ANN)—were employed and evaluated for biomass prediction. The ANN had the highest accuracy in a five-fold cross-validation, with R2 of 0.89~0.93, RMSE of 7.16~8.98 g and MAE of 5.06~6.29 g. As for the other five models, the addition of VIs increased the R2 from 0.77~0.80 to 0.83~0.86, and reduced the RMSE from 8.89~9.58 to 7.35~8.09 g and the MAE from 6.30~6.70 to 5.25~5.47 g, respectively. Red-edge-related VIs, including the normalized difference red-edge index (NDRE), simple ratio vegetation index red-edge (SRRedEdge), modified simple ratio red-edge (MSRRedEdge) and chlorophyll index red and red-edge (CIred&RE), were the most influential VIs for biomass modeling. In conclusion, the combination of canopy geometric parameters and VIs obtained from the UAV imagery was effective for strawberry dry biomass estimation using machine learning models.

Unmanned aerial vehicle images in the machine learning for agave detection

In this study, six supervised classification algorithms were compared. The algorithms were based on cluster analysis, distance, deep learning, and object-based image analysis. Our objective was to determine which of these algorithms has the highest overall accuracy in both detection and automated estimation of agave cover in a given area to help growers manage their plantations. An orthomosaic with a spatial resolution of 2.5 cm was derived from 300 images obtained with a DJI Inspire 1 unmanned aerial system. Two training classes were defined: (1) sites where the presence of agaves was identified and (2) "absence" where there were no agaves but other plants were present. The object-oriented algorithm was found to have the highest overall accuracy (0.963), followed by the support-vector machine with 0.928 accuracy and the neural network with 0.914. The algorithms with statistical criteria for classification were the least accurate: Mahalanobis distance = 0.752 accuracy and minimum distance = 0.421. We further recommend that the object-oriented algorithm be used, because in addition to having the highest overall accuracy for the image segmentation process, it yields parameters that are useful for estimating the coverage area, size, and shapes, which can aid in better selection of agave individuals for harvest.

Robust Trajectory-Tracking for a Bi-Copter Drone Using Indi: A Gain Tuning Multi-Objective Approach

This paper presents an optimized robust trajectory control system for an autonomous tiltrotor bi-copter based on an incremental nonlinear dynamic inversion (INDI) strategy combined with a set of PID/PD controllers. The methodology includes a lower level, fast attitude control action using an incremental nonlinear dynamic inversion (INDI) strategy, which is driven by a higher level, slow trajectory control action that uses nonlinear dynamic inversion (NDI). The nonlinear dynamic model of the drone is derived, and the basis of the motion and the design of the attitude and position stabilizing controllers are discussed. To develop and test the suggested controller, a circle-shaped flight profile is simulated. The linear control providing inputs to the NDI and INDI controllers is tuned via a novel multi-objective optimization auto-tuning method using the non-dominated sorting genetic algorithm II (NSGA-II). The tracking and disturbance rejection optimization is achieved via the use of the integral of time multiplied by the absolute error (ITAE) and the integral of the square of the error (ISE) objective functions, which are optimized concurrently. The simulation results reveal that the proposed control design outperforms the traditional dynamic inversion controller design and demonstrate that the developed INDI + PID/PD controller possesses exceptional accuracy and performance, enabling the tiltrotor bi-copter to track the given trajectory. Furthermore, the paper shows that the proposed controller produces 40% lower overshoot and settling time as measured with respect to previous backstepping controllers reported in the literature. The robustness of the controller is validated through diverse tests where the aircraft is subjected to external (wind gust) disturbances. 

Advantages in Using Colour Calibration for Orthophoto Reconstruction

UAVs are sensor platforms increasingly used in precision agriculture, especially for crop and environmental monitoring using photogrammetry. In this work, light drone flights were performed on three consecutive days (with different weather conditions) on an experimental agricultural field to evaluate the photogrammetric performances due to colour calibration. Thirty random reconstructions from the three days and six different areas of the field were performed. The results showed that calibrated orthophotos appeared greener and brighter than the uncalibrated ones, better representing the actual colours of the scene. Parameter reporting errors were always lower in the calibrated reconstructions and the other quantitative parameters were always lower in the non-calibrated ones, in particular, significant differences were observed in the percentage of camera stations on the total number of images and the reprojection error. The results obtained showed that it is possible to obtain better orthophotos, by means of a calibration algorithm, to rectify the atmospheric conditions that affect the image obtained. This proposed colour calibration protocol could be useful when integrated into robotic platforms and sensors for the exploration and monitoring of different environments.

A novel approach for estimating the flowering rate of litchi based on deep learning and UAV images

Litchi flowering management is an important link in litchi orchard management. Statistical litchi flowering rate data can provide an important reference for regulating the number of litchi flowers and directly determining the quality and yield of litchi fruit. At present, the statistical work regarding litchi flowering rates requires considerable labour costs. Therefore, this study aims at the statistical litchi flowering rate task, and a combination of unmanned aerial vehicle (UAV) images and computer vision technology is proposed to count the numbers of litchi flower clusters and flushes in a complex natural environment to improve the efficiency of litchi flowering rate estimation. First, RGB images of litchi canopies at the flowering stage are collected by a UAV. After performing image preprocessing, a dataset is established, and two types of objects in the images, namely, flower clusters and flushes, are manually labelled. Second, by comparing the pretraining and testing results obtained when setting different training parameters for the YOLOv4 model, the optimal parameter combination is determined. The YOLOv4 model trained with the optimal combination of parameters tests best on the test set, at which time the mean average precision (mAP) is 87.87%. The detection time required for a single image is 0.043 s. Finally, aiming at the two kinds of targets (flower clusters and flushes) on 8 litchi trees in a real orchard, a model for estimating the numbers of flower clusters and flushes on a single litchi tree is constructed by matching the identified number of targets with the actual number of targets via equation fitting. Then, the data obtained from the manual counting process and the estimation model for the other five litchi trees in the real orchard are statistically analysed. The average error rate for the number of flower clusters is 4.20%, the average error rate for the number of flushes is 2.85%, and the average error for the flowering rate is 1.135%. The experimental results show that the proposed method is effective for estimating the litchi flowering rate and can provide guidance regarding the management of the flowering periods of litchi orchards.

Research hotspots and frontiers in agricultural multispectral technology: Bibliometrics and scientometrics analysis of the Web of Science

Multispectral technology has a wide range of applications in agriculture. By obtaining spectral information during crop production, key information such as growth, pests and diseases, fertilizer and pesticide application can be determined quickly, accurately and efficiently. The scientific analysis based on Web of Science aims to understand the research hotspots and areas of interest in the field of agricultural multispectral technology. The publications related to agricultural multispectral research in agriculture between 2002 and 2021 were selected as the research objects. The softwares of CiteSpace, VOSviewer, and Microsoft Excel were used to provide a comprehensive review of agricultural multispectral research in terms of research areas, institutions, influential journals, and core authors. Results of the analysis show that the number of publications increased each year, with the largest increase in 2019. Remote sensing, imaging technology, environmental science, and ecology are the most popular research directions. The journal Remote Sensing is one of the most popular publishers, showing a high publishing potential in multispectral research in agriculture. The institution with the most research literature and citations is the USDA. In terms of the number of papers, Mtanga is the author with the most published articles in recent years. Through keyword co-citation analysis, it is determined that the main research areas of this topic focus on remote sensing, crop classification, plant phenotypes and other research areas. The literature co-citation analysis indicates that the main research directions concentrate in vegetation index, satellite remote sensing applications and machine learning modeling. There is still a lot of room for development of multi-spectrum technology. Further development can be carried out in the areas of multi-device synergy, spectral fusion, airborne equipment improvement, and real-time image processing technology, which will cooperate with each other to further play the role of multi-spectrum in agriculture and promote the development of agriculture.

Reliable Aerial Mobile Communications with RSRP & RSRQ Prediction Models for the Internet of Drones: A Machine Learning Approach

The unmanned aerial vehicle (UAV) industry is moving toward beyond visual line of sight (BVLOS) operations to unlock future internet of drones applications, including unmanned environmental monitoring and long-range delivery services. A reliable and ubiquitous mobile communication link plays a vital role in ensuring flight safety. Cellular networks are considered one of the main enablers of BVLOS operations. However, the existing cellular networks are designed and optimized for terrestrial use cases. To investigate the reliability of provided aerial coverage by the terrestrial cellular base stations (BSs), this article proposes six machine learning-based models to predict reference signal received power (RSRP) and reference signal received quality (RSRQ) based on the multiple linear regression, polynomial, and logarithmic methods. In this regard, first, a UAV-to-BS measurement campaign was conducted in a 4G LTE network within a suburban environment. Then, the aerial coverage was statistically analyzed and the prediction methods were developed as a function of distance and elevation angle. The results reveal the capability of terrestrial BSs in providing aerial coverage under some circumstances, which mainly depends on the distance between the UAV and BS and flight height. The performance evaluation shows that the proposed RSRP and RSRQ models achieved RMSE of 4.37 dBm and 2.71 dB for testing samples, respectively.

The Application of Fuel-Cell and Battery Technologies in Unmanned Aerial Vehicles (UAVs): A Dynamic Study

The harmful impacts of fossil-fuel-based engines on the environment have resulted in the development of other alternatives for different types of vehicles. Currently, batteries and fuel cells are being used in the automotive industry, while promising progress in the maritime and aerospace sectors is foreseen. As a case study in the aerospace sector, an unmanned aerial vehicle (UAV) was considered. The goal and the novelty of this study are in its analysis of the possibility of providing 960 W of power for a UAV with a weight of 14 kg using a hybrid system of a lithium-ion (Li-ion) battery and proton-exchange membrane fuel cell (PEMFC). The dynamic performance of the system was analyzed considering three different load profiles over time in an optimized condition. PEMFC was the main supplier of power, while the battery intervened when the power load was high for the PEMFC and the system demanded an immediate response to the changes in power load. Additionally, the impacts of the operating temperature and the C-rate of the battery were characterized by the state of the charge of the battery to better indicate the overall performance of the system.

Similarity Analysis between Contour Lines by Remotely Piloted Aircraft and Topography Using Hausdorff Distance: Application on Contour Planting

Contour planting minimizes soil degradation, making agricultural production more sustainable. Currently, geotechnologies can provide more precise and fast data from relief than rudimentary data acquisition for agricultural management. Thus, the objective of this work was to analyze the similarities between contour lines from topography and Remotely Piloted Aircraft, using the Hausdorff distance algorithm. This study was carried out in the period between January 2020 and November 2021 in four localities in the State of Rio de Janeiro, Brazil: two areas located in the municipality of Bom Jardim and two areas in the municipality of Seropédica. Data were acquired through a conventional topographic survey and an aerial photogrammetric survey by Remotely Piloted Aircraft. From the acquired field data for the studied areas, the Digital Elevation Models were generated with a spatial resolution of 0.20 m and the contour lines with an equidistance of one meter. The contour lines obtained by both techniques were superimposed and their similarity was verified using the Hausdorff distance. The results show that there was a better similarity among the contour lines in areas with a very rugged relief than in a smooth relief. Also, the lowest altimetric differences observed in the Digital Elevation Models were associated with the smallest Hausdorff distance. These adjustments correspond, respectively, to the segments between the contour lines with the best and the worst individual similarity for each area. We observed that the similarity between the contour lines from topography and RPA yielded slope differences lower than 6.1% for at least 95% of all studied areas. The Hausdorff distance analysis allowed us to conclude that contour planting can be performed from data obtained via Remotely Piloted Aircraft, provided that vertical accuracy analysis controls the quality of the Digital Elevation Models.

Comparison of Remote Sensing Methods for Plant Heights in Agricultural Fields Using Unmanned Aerial Vehicle-Based Structure From Motion

Remote sensing using unmanned aerial vehicles (UAVs) and structure from motion (SfM) is useful for the sustainable and cost-effective management of agricultural fields. Ground control points (GCPs) are typically used for the high-precision monitoring of plant height (PH). Additionally, a secondary UAV flight is necessary when off-season images are processed to obtain the ground altitude (GA). In this study, four variables, namely, camera angles, real-time kinematic (RTK), GCPs, and methods for GA, were compared with the predictive performance of maize PH. Linear regression models for PH prediction were validated using training data from different targets on different flights ("different-targets-and-different-flight" cross-validation). PH prediction using UAV-SfM at a camera angle of -60° with RTK, GCPs, and GA obtained from an off-season flight scored a high coefficient of determination and a low mean absolute error (MAE) for validation data (R ² _val = 0.766, MAE = 0.039 m in the vegetative stage; R ² _val = 0.803, MAE = 0.063 m in the reproductive stage). The low-cost case (LC) method, conducted at a camera angle of -60° without RTK, GCPs, or an extra off-season flight, achieved comparable predictive performance (R ² _val = 0.794, MAE = 0.036 m in the vegetative stage; R ² _val = 0.749, MAE = 0.072 m in the reproductive stage), suggesting that this method can achieve low-cost and high-precision PH monitoring.

Cotton Yield Estimation Based on Vegetation Indices and Texture Features Derived From RGB Image

Yield monitoring is an important parameter to evaluate cotton productivity during cotton harvest. Nondestructive and accurate yield monitoring is of great significance to cotton production. Unmanned aerial vehicle (UAV) remote sensing has fast and repetitive acquisition ability. The visible vegetation indices has the advantages of low cost, small amount of calculation and high resolution. The combination of the UAV and visible vegetation indices has been more and more applied to crop yield monitoring. However, there are some shortcomings in estimating cotton yield based on visible vegetation indices only as the similarity between cotton and mulch film makes it difficult to differentiate them and yields may be saturated based on vegetation index estimates near harvest. Texture feature is another important remote sensing information that can provide geometric information of ground objects and enlarge the spatial information identification based on original image brightness. In this study, RGB images of cotton canopy were acquired by UAV carrying RGB sensors before cotton harvest. The visible vegetation indices and texture features were extracted from RGB images for cotton yield monitoring. Feature parameters were selected in different methods after extracting the information. Linear and nonlinear methods were used to build cotton yield monitoring models based on visible vegetation indices, texture features and their combinations. The results show that (1) vegetation indices and texture features extracted from the ultra-high-resolution RGB images obtained by UAVs were significantly correlated with the cotton yield; (2) The best model was that combined with vegetation indices and texture characteristics RF_ELM model, verification set R ² was 0.9109, and RMSE was 0.91277 t.ha^-1. rRMSE was 29.34%. In conclusion, the research results prove that UAV carrying RGB sensor has a certain potential in cotton yield monitoring, which can provide theoretical basis and technical support for field cotton production evaluation.

Droplet distribution in cotton canopy using single-rotor and four-rotor unmanned aerial vehicles

Unmanned aerial vehicles (UAVs) are widely used as the sprayers for low-volume pesticide application in recent years. Droplet distribution characteristics of UAV spraying in the cotton canopy have notable effect on the biological control efficacy of the targets and the defoliation efficiency of the harvest aids. In this work, the influences on droplet distribution in the cotton canopy with respect to the flight height, forward mode, and spraying volume were evaluated by conducting the field trials during two cotton growth stages in 2020, respectively. The first field trial was performed in the cotton flowering stage and the second one was conducted in the early boll development stage. Two typical UAVs equipped with a single-rotor and four-rotor, respectively, were adopted as the spraying platforms in this work. Droplet deposition obtained by water sensitive papers (WSPs) clipped on the cotton leaves was considered as the observing metric. All cotton leaves in the canopy were divided into three groups (i.e., upper, middle, and bottom layers) in both trials. Furthermore, the cotton canopy was divided as eight directions to assess the droplet distribution in the canopy from different directions. The results showed that the droplet deposition varied remarkable between the treatments and in the same canopy within a treatment. The upper layer obtained higher droplet deposition than those of the middle and bottom layers and plants P4 to P8 accessed more droplets than those of the remaining sampling plants in most treatments of both trials for the two UAVs. The upper layer droplet deposition of the four-rotor UAV treatments outperformed that of the single-rotor treatments under the same operating parameters. The forward modes rarely affected the droplet distribution of the four-rotor UAV treatments but significantly influenced that of the single-rotor UAV treatments. For the single-rotor UAV spraying with "head forward", the droplet distribution of the treatment with a flight height of 2 m was more even than that of the 1 and 3 m in the first trial. Under the same flight height, droplet deposition of the treatments with a spraying volume of 22.5 L ha^-1 was remarkably higher than that of the 12 L ha^-1 for both forward modes in the second trial. "Tail forward" of the single-rotor UAV treatment had better penetration at a flight height of 2 m in both trials. Therefore, for the single-rotor UAV, under a flight height of 2 m and a spraying volume of 22.5 L ha^-1, "tail forward" was recommended for applying pesticides to control targets at the lower canopy and "head forward" was a better choice for harvest aid application. Four-rotor UAV was a suitable adoption for the harvest aid application and controlling the targets of the upper canopy. The results also indicate that the systemic pesticides are recommended for UAV spraying due to its uneven droplet distribution uniformity in the whole cotton canopy.

Comparative Sensitivity of Vegetation Indices Measured via Proximal and Aerial Sensors for Assessing N Status and Predicting Grain Yield in Rice Cropping Systems

Reflectance-based vegetation indices can be valuable for assessing crop nitrogen (N) status and predicting grain yield. While proximal sensors have been widely studied in agriculture, there is increasing interest in utilizing aerial sensors. Given that few studies have compared aerial and proximal sensors, the objective of this study was to quantitatively compare the sensitivity of aerially sensed Normalized Difference Vegetation Index (NDVI) and Normalized Difference Red-Edge Index (NDRE) and proximally sensed NDVI for assessing total N uptake at panicle initiation (PI-NUP) and predicting grain yield in rice. Nitrogen response trials were established over a 3-year period (10 site-years) at various locations throughout the Sacramento Valley rice growing region of California. At PI, a multispectral unmanned aircraft system (UAS) was used to measure NDVIUAS and NDREUAS (average ground sampling distance: 3.7 cm pixel−1), and a proximal GreenSeeker (GS) sensor was used to record NDVIGS. To enable direct comparisons across the different indices on an equivalent numeric scale, each index was normalized by calculating the Sufficiency-Index (SI) relative to a non-N-limiting plot. Kernel density distributions indicated that NDVIUAS had a narrower range of values that were poorly differentiated compared to NDVIGS and NDREUAS. The critical PI-NUP where yields did not increase with higher PI-NUP averaged 109 kg N ha−1 (±4 kg N ha−1). The relationship between SI and PI-NUP for the NDVIUAS saturated lower than this critical PI-NUP (96 kg N ha−1), whereas NDVIGS and NDREUAS saturated at 111 and 130 kg N ha−1, respectively. This indicates that NDVIUAS was less suitable for making N management decisions at this crop stage than NDVIGS and NDREUAS. Linear mixed effects models were developed to evaluate how well each SI measured at PI was able to predict grain yield. The NDVIUAS was least sensitive to variation in yields as reflected by having the highest slope (2.4 Mg ha−1 per 0.1 SI). In contrast, the slopes for NDVIGS and NDREUAS were 0.9 and 1.1 Mg ha−1 per 0.1 SI, respectively, indicating greater sensitivity to yields. Altogether, these results indicate that the ability of vegetation indices to inform crop management decisions depends on the index and the measurement platform used. Both NDVIGS and NDREUAS produced measurements sensitive enough to inform N fertilizer management in this system, whereas NDVIUAS was more limited.

Web and MATLAB-Based Platform for UAV Flight Management and Multispectral Image Processing

The deployment of any UAV application in precision agriculture involves the development of several tasks, such as path planning and route optimization, images acquisition, handling emergencies, and mission validation, to cite a few. UAVs applications are also subject to common constraints, such as weather conditions, zonal restrictions, and so forth. The development of such applications requires the advanced software integration of different utilities, and this situation may frighten and dissuade undertaking projects in the field of precision agriculture. This paper proposes the development of a Web and MATLAB-based application that integrates several services in the same environment. The first group of services deals with UAV mission creation and management. It provides several pieces of flight conditions information, such as weather conditions, the KP index, air navigation maps, or aeronautical information services including notices to Airmen (NOTAM). The second group deals with route planning and converts selected field areas on the map to an UAV optimized route, handling sub-routes for long journeys. The third group deals with multispectral image processing and vegetation indexes calculation and visualizations. From a software development point of view, the app integrates several monolithic and independent programs around the MATLAB Runtime package with an automated and transparent data flow. Its main feature consists in designing a plethora of executable MATLAB programs, especially for the route planning and optimization of UAVs, images processing and vegetation indexes calculations, and running them remotely.

Opportunities from Unmanned Aerial Vehicles to Identify Differences in Weed Spatial Distribution between Conventional and Conservation Agriculture

Weeds are one of the major issues in agricultural production and they are present in most agricultural systems. Due to the heterogeneity of weed distribution, understanding spatial patterns is paramount for precision farming and improving sustainability in crop management. Nevertheless, limited information is currently available about the differences between conventional agricultural (CV) weed spatial patterns and weed spatial patterns in conservation agricultural systems (CA); moreover, opportunities to use unmanned aerial vehicles (UAV) and recognition algorithms to monitor these differences are still being explored and tested. In this work, the opportunity to use UAVs to detect changes in spatial distribution over time between CA and CV fields was assessed for data acquisition. Acquired data were processed using maximum likelihood classification to discriminate between weeds and surrounding elements; then, a similarity assessment was performed using the ‘equal to’ function of the raster calculator. The results show important differences in spatial distribution over time between CA and CV fields. In the CA field 56.18% of the area was infested in both years when the field margin effect was included, and 22.53% when this effect was excluded; on the other hand, in the CV field only 11.50% of the area was infested in both years. The results illustrate that there are important differences in the spatial distribution of weeds between CA and CV fields; such differences can be easily detected using UAVs and identification algorithms combined.

Autonomous UAS-Based Agriculture Applications: General Overview and Relevant European Case Studies

Emerging precision agriculture techniques rely on the frequent collection of high-quality data which can be acquired efficiently by unmanned aerial systems (UAS). The main obstacle for wider adoption of this technology is related to UAS operational costs. The path forward requires a high degree of autonomy and integration of the UAS and other cyber physical systems on the farm into a common Farm Management System (FMS) to facilitate the use of big data and artificial intelligence (AI) techniques for decision support. Such a solution has been implemented in the EU project AFarCloud (Aggregated Farming in the Cloud). The regulation of UAS operations is another important factor that impacts the adoption rate of agricultural UAS. An analysis of the new European UAS regulations relevant for autonomous operation is included. Autonomous UAS operation through the AFarCloud FMS solution has been demonstrated at several test farms in multiple European countries. Novel applications have been developed, such as the retrieval of data from remote field sensors using UAS and in situ measurements using dedicated UAS payloads designed for physical contact with the environment. The main findings include that (1) autonomous UAS operation in the agricultural sector is feasible once the regulations allow this; (2) the UAS should be integrated with the FMS and include autonomous data processing and charging functionality to offer a practical solution; and (3) several applications beyond just asset monitoring are relevant for the UAS and will help to justify the cost of this equipment.

Visual Servoed Autonomous Landing of an UAV on a Catamaran in a Marine Environment

This paper introduces a procedure for autonomous landing of a quadrotor on an unmanned surface vehicle in a marine environment. The relative pose and velocity of the vehicle with respect to the quadrotor are estimated using a combination of data coming from a vision system, which recognizes a set of AprilTags located on the vehicle itself, and an ultrasonic sensor, to achieve further robustness during the final landing phase. The considered software and hardware architecture is provided, and the details about the landing procedure are presented. Software-in-the-loop tests were performed as a validation step for the proposed algorithms; to recreate realistic conditions, the movements of the landing platform have been replicated from data of a test in a real marine environment. In order to provide further proof of the reliability of the vision system, a video sequence from a manual landing of a quadrotor on the surface vehicle in a real marine environment has been processed, and the results are presented.

Optimising Land Consolidation by Implementing UAV Technology

The increase in population and the growing demand for food that accompanies it drive the need to achieve sustainable agriculture. Technological progress and methodological novelties provide tools that may support the processes of improving the spatial structure of agricultural lands, as well as their management. One of the examples may be the application of photogrammetric and remote-sensing products to facilitate land consolidation. In the following paper, the systematised procedure of conduct is investigated to determine the moments at which these products could be adopted. In identifying the possibilities for implementing the abovementioned tools, we analyse the legal regulations governing the process and the literature on the subject, as well as some practical examples encountered in surveying practice. In addition, the usefulness of such geospatial products is tested on data gathered during an exemplary UAV flight. We then investigate the issues with implementing the abovementioned tools and assess their advantages and disadvantages in smart agriculture. The research proves that reliable elaboration of the consolidation project concept is critical for its correct realisation, while modern measurement methods providing efficient, up-to-date, factual data facilitate the procedures and support rational decision making. Moreover, they enable us to ensure the necessary accuracy of the data for the scope of the land use and avoid analysing a compilation of several cartographic materials concerning the surveyed object. In the present study, the RMSExyz mean square error at the control points for the orthomosaic, generated using the Matrice 210 RTK v2 professional flying platform, is 5.6 cm, while for the orthomosaic created from images from the amateur drone Mavic 2 Pro RMSExyz, it is 9.2 cm. The results obtained also indicate the usefulness of low-budget drones during the land consolidation process.

On the Construction of an Edge-Based Remote Sensing Framework: The Applications on Automated Guided Vehicles and Drones

To monitor the status and mission progress of automated guided vehicles (AGVs), most platforms typically obtained real-time data through a data acquisition system that is deployed on the end vehicles. The data acquired from an end vehicle are generally sparse but are required frequently, and an examination process using cloud storage cannot commence until the device’s raw data are received. To reduce communication costs, the proposed edge-based monitoring system (EMS) applies edge computation to move the data examination from the cloud to an end site. The data buffered in the end device could be pre-processed by some detectors. For example, checking the energy is adequate for returning to the base. Thus, buffering data on the end device helps to minimize the time required by the decision maker for abnormal events, e.g., shutdowns caused by exhausted energy. In addition to adopting the common methods of storing, processing, and analyzing data at the data center, the EMS moves some time-sensitive services to the end vehicle. Moreover, after obtaining real-time motion data, the edge computing architecture immediately targets abnormal actions and sends reaction commands to shorten the decision making delay caused by the communication cost between the end vehicles and cloud storage sites, thereby avoiding collisions or accidents. The EMS has been implemented to monitor AGV and unmanned aerial vehicles. The EMS primarily monitored the power and motion of the vehicles. It also combined task-oriented motion commands for monitoring unexpected vehicle motions during tasks. If an abnormal event occurred, immediate warnings were provided through a notification interface and were immediately processed by the EMS to ensure safety during task execution. After checking data consistency between the EMS and the real device, the EMS reveals the corrected status of the device with very little delay. Therefore, the EMS could help with minimizing the time taken to make decisions. Moreover, the EMS has been modified to be deployed on drones to confirm its cross-platform applicability. In the simulations of drones, the EMS also got similar results to the simulations of AGVs. Therefore, the EMS could reduce the time in examining abnormal events and has cross-platform functionality.

The Optimal Phenological Phase of Maize for Yield Prediction with High-Frequency UAV Remote Sensing

Unmanned aerial vehicle (UAV)-based multispectral remote sensing effectively monitors agro-ecosystem functioning and predicts crop yield. However, the timing of the remote sensing field campaigns can profoundly impact the accuracy of yield predictions. Little is known on the effects of phenological phases on skills of high-frequency sensing observations used to predict maize yield. It is also unclear how much improvement can be gained using multi-temporal compared to mono-temporal data. We used a systematic scheme to address those gaps employing UAV multispectral observations at nine development stages of maize (from second-leaf to maturity). Next, the spectral and texture indices calculated from the mono-temporal and multi-temporal UAV images were fed into the Random Forest model for yield prediction. Our results indicated that multi-temporal UAV data could remarkably enhance the yield prediction accuracy compared with mono-temporal UAV data (R2 increased by 8.1% and RMSE decreased by 27.4%). For single temporal UAV observation, the fourteenth-leaf stage was the earliest suitable time and the milking stage was the optimal observing time to estimate grain yield. For multi-temporal UAV data, the combination of tasseling, silking, milking, and dough stages exhibited the highest yield prediction accuracy (R2 = 0.93, RMSE = 0.77 t·ha−1). Furthermore, we found that the Normalized Difference Red Edge Index (NDRE), Green Normalized Difference Vegetation Index (GNDVI), and dissimilarity of the near-infrared image at milking stage were the most promising feature variables for maize yield prediction.

Toward Automated Machine Learning-Based Hyperspectral Image Analysis in Crop Yield and Biomass Estimation

The incorporation of autonomous computation and artificial intelligence (AI) technologies into smart agriculture concepts is becoming an expected scientific procedure. The airborne hyperspectral system with its vast area coverage, high spectral resolution, and varied narrow-band selection is an excellent tool for crop physiological characteristics and yield prediction. However, the extensive and redundant three-dimensional (3D) cube data processing and computation have made the popularization of this tool a challenging task. This research integrated two important open-sourced systems (R and Python) combined with automated hyperspectral narrowband vegetation index calculation and the state-of-the-art AI-based automated machine learning (AutoML) technology to estimate yield and biomass, based on three crop categories (spring wheat, pea and oat mixture, and spring barley with red clover) with multifunctional cultivation practices in northern Europe and Estonia. Our study showed the estimated capacity of the empirical AutoML regression model was significant. The best coefficient of determination (R2) and normalized root mean square error (NRMSE) for single variety planting wheat were 0.96 and 0.12 respectively; for mixed peas and oats, they were 0.76 and 0.18 in the booting to heading stage, while for mixed legumes and spring barley, they were 0.88 and 0.16 in the reproductive growth stages. In terms of straw mass estimation, R2 was 0.96, 0.83, and 0.86, and NRMSE was 0.12, 0.24, and 0.33 respectively. This research contributes to, and confirms, the use of the AutoML framework in hyperspectral image analysis to increase implementation flexibility and reduce learning costs under a variety of agricultural resource conditions. It delivers expert yield and straw mass valuation two months in advance before harvest time for decision-makers. This study also highlights that the hyperspectral system provides economic and environmental benefits and will play a critical role in the construction of sustainable and intelligent agriculture techniques in the upcoming years.