![](https://d3ilqtpdwi981i.cloudfront.net/IVD5OeLcHRAzQwGzKZc22T7bQrA=/425x550/smart/https://bepress-attached-resources.s3.amazonaws.com/uploads/d0/f3/49/d0f349c3-016d-476f-bfdd-1e543ff585e5/thumbnail_2649d440-51e0-45d7-8e50-cc765a4a19c0.jpg)
In this work, we consider the problem of using a drone to collect information within orchards in order to scout insect pests, i.e., the stink bug Halyomorpha halys. An orchard can be modeled as an aisle-graph, which is a regular and constrained data structure formed by consecutive aisles where trees are arranged in a straight line. For monitoring the presence of bugs, a drone flies close to the trees and takes videos and/or pictures that will be analyzed offline. As the drone's energy is limited, only a subset of locations in the orchard can be visited with a fully charged battery. Those places that are most likely to be infested should be selected to promptly detect the pest. We implemented the proposed approach on a DJI drone and evaluated its performance in the real-world environment.
- Bugs,
- Drone,
- Orchard,
- Orienteering
Available at: http://works.bepress.com/sajal-das/250/
This work was partially supported by the "GNCS - INdAM", by "HALY-ID" project funded by the European Union’s Horizon 2020 under grant agreement ICT-AGRI-FOOD no. 862665, no. 862671, and by MIPAAF.