Human-Robot Collaboration System Setup for Weed Harvesting Scenarios in Aquatic Lakes

Abstract: Artificial Water Bodies (AWBs) are human-made and require continuous monitoring due to their artificial biological processes. These systems necessitate regular maintenance to manage their ecosystems effectively. Unmanned Surface Vehicle (USV) offers a collaborative approach for monitoring these environments, working alongside human operators such as boat skippers to identify specific locations. This paper discusses a weed harvesting scenario, demonstrating how human-robot collaboration can be achieved, supported by preliminary results. The USV mainly utilises multibeam SOund NAvigation and Ranging (SONAR) for underwater weed monitoring, showing promising outcomes in these scenarios.