Robotic Monocular SLAM in Wastewater Treatment Plants with a Sampling Device

A novel application is presented in this paper. Wastewater treatment plants need to sample water to follow the cleaned process continuously. This task is very tedious for laboratory workers and, mainly, can be done in reduced areas of the large basins that form the whole plant, specifically only in the edges of those basins. The new proposal is to enlarge the sampling area and reduce the load for workers. A new unmanned aerial vehicle has been designed together with a novel tool to take water samples. Moreover, a new architecture for the mission plan is presented in form of multi-agents. Experiments have been done in order to test the feasibility of the proposal.