Addressing the challenge of roadside litter in the United States, which has traditionally relied on costly and ineffective manual cleanup methods11https://www.conserve-energy-future.com/littering-effects-humans-animals-environment.php, this paper presents an autonomous multi-robot system for highway litter monitoring and collection. Our solution integrates an aerial vehicle to scan and gather data across highway stretches with a terrestrial robot equipped with a Convolutional Neural Network (CNN) for litter detection and mapping. Upon detecting litter, the ground robot navigates to each pinpointed location, re-assesses the vicinity, and employs a “greedy pickup” approach to address potential mapping inaccuracies or litter misplacements. Through simulation studies and real-world robotic trials, this work highlights the potential of our proposed system for highway cleanliness and management in the context of Robotics, Automation, and Artificial Intelligence.
TRASH: Tandem Rover and Aerial Scrap Harvester
14.12.2023
5500684 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
NTRS | 2003
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