Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment

Benoit Casseau; Jonas Frey; Leonard Frei{\ss}muth; Marco Hutter; Mat\'ias Mattamala; Maurice Fallon; Nived Chebrolu; Turcan Tuna

Autonomous Forest Inventory with Legged Robots: System Design and Field Deployment

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arxiv 2404.14157 v1 pith:O46RDK6I submitted 2024-04-22 cs.RO

Matías Mattamala , Nived Chebrolu , Benoit Casseau , Leonard Frei{ss}muth , Jonas Frey , Turcan Tuna , Marco Hutter , Maurice Fallon This is my paper

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We present a solution for autonomous forest inventory with a legged robotic platform. Compared to their wheeled and aerial counterparts, legged platforms offer an attractive balance of endurance and low soil impact for forest applications. In this paper, we present the complete system architecture of our forest inventory solution which includes state estimation, navigation, mission planning, and real-time tree segmentation and trait estimation. We present preliminary results for three campaigns in forests in Finland and the UK and summarize the main outcomes, lessons, and challenges. Our UK experiment at the Forest of Dean with the ANYmal D legged platform, achieved an autonomous survey of a 0.96 hectare plot in 20 min, identifying over 100 trees with typical DBH accuracy of 2 cm.

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