@inbook{3fd380408cf34d52844731c4d91f04c8,
title = "Predicting Digging Success for Unmanned Aircraft System Sensor Emplacement",
abstract = "We have developed an autonomous, digging, Unmanned Aircraft System (UAS) for sensor emplacement. A key challenge is quickly determining whether or not a particular digging activity will lead to successful emplacement, thereby allowing the system to potentially try another location. We have designed a first-of-its-kind decision-making algorithm using a Markov Decision Process to autonomously monitor the activity of a digging UAS activity to quickly decide if success is likely. Further, we demonstrate through many experimental trials that our method outperforms other decision-making methods with an overall success rate of 82.5%.",
keywords = "Field robotics, Markov Decision Process, Sensor emplacement, UAS",
author = "Adam Plowcha and Yue Sun and Carrick Detweiler and Justin Bradley",
note = "Publisher Copyright: {\textcopyright} 2020, Springer Nature Switzerland AG.",
year = "2020",
doi = "10.1007/978-3-030-33950-0_14",
language = "English (US)",
series = "Springer Proceedings in Advanced Robotics",
publisher = "Springer Science and Business Media B.V.",
pages = "153--164",
booktitle = "Springer Proceedings in Advanced Robotics",
}