Sequentially Utility Maximizing Path Planning Using a Distributed Pool Architecture

Operation of ground vehicles in remote unstructured terrains is a challenging task. While information on terrain parameters such as elevation, slope, and soil content and its use in tasks such as path planning and vehicle simulation is immensely useful, it requires detailed analyses that are computationally expensive and time-consuming. At the same time, higher-level decisions made without a full understanding of the terrain properties and vehicle capabilities are bound to be suboptimal, possibly even leading to mission failure. In this paper, we approach the problem from a decision-making standpoint to address both the aspects described above. The approach divides a given terrain into smaller cells and progressively finds the path to the goal. At each step, the operator’s utility between competing immediate terrain cells is compared so that the vehicle chooses the best next step considering detailed vehicle simulation. To account for the increased computational effort, a pool-based distributed computing architecture is employed to speed-up pathfinding and provide resilience towards failure of processors and communication links. The pool architecture also admits heterogeneous, geographically distributed processors and storage locations. Concurrently, the multiattribute utility formulation takes into account the tradeoff between different attributes and the uncertainty in the vehicle performance. The proposed method can be used for medium and long-range navigation in unstructured environments for efficient rough path planning or re-planning based on changing mission requirements and dynamically arriving terrain data. The method is demonstrated on data acquired from USGS sources.

An Enhanced Double-Filter Deep Residual Neural Network for Generating Super Resolution DEMs

High-resolution DEMs are important spatial data, and are used in a wide range of analyses and applications. However, the high cost to obtain high-resolution DEM data over a large area through sensors with higher precision poses a challenge for many geographic analysis applications. Inspired by the convolution neural network (CNN) excellent performance in super-resolution (SR) image analysis, this paper investigates the use of deep residual neural networks and low-resolution DEMs to generate high-resolution DEMs. An enhanced double-filter deep residual neural network (EDEM-SR) method is proposed, which uses filters with different receptive field sizes to fuse and extract features and reconstruct a more realistic high-resolution DEM. The results were compared with those generated with the bicubic, bilinear, and EDSR methods. The numerical accuracy and terrain feature preserving effects of the EDEM-SR method can generate reconstructed DEMs that better match the original DEMs, show lower MAE and RMSE, and improve the accuracy of the terrain parameters. MAE is reduced by about 30 to 50% compared with traditional interpolation methods. The results show how the EDEM-SR method can generate high-resolution DEMs using low-resolution DEMs.

Statistical Exploration of SENTINEL-1 Data, Terrain Parameters, and in-situ Data for Estimating the Near-Surface Soil Moisture in a Mediterranean Agroecosystem

Reliable near-surface soil moisture (θ) information is crucial for supporting risk assessment of future water usage, particularly considering the vulnerability of agroforestry systems of Mediterranean environments to climate change. We propose a simple empirical model by integrating dual-polarimetric Sentinel-1 (S1) Synthetic Aperture Radar (SAR) C-band single-look complex data and topographic information together with in-situ measurements of θ into a random forest (RF) regression approach (10-fold cross-validation). Firstly, we compare two RF models' estimation performances using either 43 SAR parameters (θNovSAR) or the combination of 43 SAR and 10 terrain parameters (θNovSAR+Terrain). Secondly, we analyze the essential parameters in estimating and mapping θ for S1 overpasses twice a day (at 5 a.m. and 5 p.m.) in a high spatiotemporal (17 × 17 m; 6 days) resolution. The developed site-specific calibration-dependent model was tested for a short period in November 2018 in a field-scale agroforestry environment belonging to the “Alento” hydrological observatory in southern Italy. Our results show that the combined SAR + terrain model slightly outperforms the SAR-based model (θNovSAR+Terrain with 0.025 and 0.020 m3 m−3, and 89% compared to θNovSAR with 0.028 and 0.022 m3 m−3, and 86% in terms of RMSE, MAE, and R2). The higher explanatory power for θNovSAR+Terrain is assessed with time-variant SAR phase information-dependent elements of the C2 covariance and Kennaugh matrix (i.e., K1, K6, and K1S) and with local (e.g., altitude above channel network) and compound topographic attributes (e.g., wetness index). Our proposed methodological approach constitutes a simple empirical model aiming at estimating θ for rapid surveys with high accuracy. It emphasizes potentials for further improvement (e.g., higher spatiotemporal coverage of ground-truthing) by identifying differences of SAR measurements between S1 overpasses in the morning and afternoon.

Gap-free global annual soil moisture: 15 km grids for 1991–2018

Soil moisture is key for understanding soil–plant–atmosphere interactions. We provide a soil moisture pattern recognition framework to increase the spatial resolution and fill gaps of the ESA-CCI (European Space Agency Climate Change Initiative v4.5) soil moisture dataset, which contains > 40 years of satellite soil moisture global grids with a spatial resolution of ∼ 27 km. We use terrain parameters coupled with bioclimatic and soil type information to predict finer-grained (i.e., downscaled) satellite soil moisture. We assess the impact of terrain parameters on the prediction accuracy by cross-validating downscaled soil moisture with and without the support of bioclimatic and soil type information. The outcome is a dataset of gap-free global mean annual soil moisture predictions and associated prediction variances for 28 years (1991–2018) across 15 km grids. We use independent in situ records from the International Soil Moisture Network (ISMN, 987 stations) and in situ precipitation records (171 additional stations) only for evaluating the new dataset. Cross-validated correlation between observed and predicted soil moisture values varies from r= 0.69 to r= 0.87 with root mean squared errors (RMSEs, m3 m−3) around 0.03 and 0.04. Our soil moisture predictions improve (a) the correlation with the ISMN (when compared with the original ESA-CCI dataset) from r= 0.30 (RMSE = 0.09, unbiased RMSE (ubRMSE) = 0.37) to r= 0.66 (RMSE = 0.05, ubRMSE = 0.18) and (b) the correlation with local precipitation records across boreal (from r= < 0.3 up to r= 0.49) or tropical areas (from r= < 0.3 to r= 0.46) which are currently poorly represented in the ISMN. Temporal trends show a decline of global annual soil moisture using (a) data from the ISMN (-1.5[-1.8,-1.24] %), (b) associated locations from the original ESA-CCI dataset (-0.87[-1.54,-0.17] %), (c) associated locations from predictions based on terrain parameters (-0.85[-1.01,-0.49] %), and (d) associated locations from predictions including bioclimatic and soil type information (-0.68[-0.91,-0.45] %). We provide a new soil moisture dataset that has no gaps and higher granularity together with validation methods and a modeling approach that can be applied worldwide (Guevara et al., 2020, https://doi.org/10.4211/hs.9f981ae4e68b4f529cdd7a5c9013e27e).

Assessing the effect of lithological setting, block characteristics and slope topography on the runout length of rockfalls in the Alps and on the island of La Réunion

In four study areas within different lithological settings and rockfall activity, lidar data were applied for a morphometric analysis of block sizes, block shapes and talus cone characteristics. This information was used to investigate the dependencies between block size, block shape and lithology on the one hand and runout distances on the other hand. In our study, we were able to show that lithology seems to have an influence on block size and shape and that gravitational sorting did not occur on all of the studied debris cones but that other parameters apparently control the runout length of boulders. Such a parameter seems to be the block shape, as it plays the role of a moderating parameter in two of the four study sites, while we could not confirm this for our other study sites. We also investigated the influence of terrain parameters such as slope inclination, profile curvature and roughness. The derived roughness values show a clear difference between the four study sites and seem to be a good proxy for block size distribution on the talus cones and thus could be used in further studies to analyse a larger sample of block size distribution on talus cones with different lithologies.

Assessing the effect of lithological setting, block characteristic and slope topography on the runout length of rockfalls in the Alps and on the La Réunion island

In high mountain regions, rockfalls are common processes, which transport different volumes of material and therefore endanger populated areas and infrastructure facilities. In four study areas within different lithological settings, LiDAR (light detection and ranging) data were acquired for a morphometric analysis of block sizes, block shapes and talus cone characteristics. Based on these high-resolution terrestrial laser scanning (TLS) data, the three axes of every block larger than 0.5 m in the referenced point cloud were measured. Block sizes and shapes are used to investigate them in the context of runout distances and to analyse the spatial distribution of blocks on the talus cone. We also investigate the influence of terrain parameters such as slope inclination, roughness and profile curvature (longitudinal profiles). Our study shows that the relation of block size within different lithological settings on runout length is complex, because we can neither confirm nor reject the theory of gravitational sorting. We also found that the block shape (axial ratio) does not have a simple influence on runout length, as it plays the role of a moderating parameter in two study sites (Gampenalm: GA, Dreitorspitze: DTS) while we could not confirm this for Piton de la Fournaise (PF) and Zwieselbach valley (ZBT). The derived roughness values show a clear difference between the four study sites. This also applies for the parameter of slope inclination and longitudinal profiles.