Heterogeneous Sensing Data Analysis for Commercial Waste Collection Waste collection has become a major issue all over the world, especially when it is offered as a service for businesses; unlike public waste collection where the parameters are relatively homogeneous. This industry can greatly benefit from new sensing technologies and advances in artificial intelligence that have been achieved over the last few years. However, in most situations waste management systems are based on obsolete technologies, with a low level of interoperability and thus offering static processes. The most advanced solutions are generally limited to statistical, nonpredictive approaches and have a limited view of reality, making them weakly effective in dealing with daytoday business issues (overflowing containers, poor quality of service, etc.). This paper presents a case study currently being developed in Luxembourg with a company offering a business waste collection service, which has a significant amount of constraints to consider. Our main objective is to investigate the use of multiple waste data sources to derive useful indicators for improving collection processes. We start with companyowned historical data and then investigate GPS information from tracking devices positioned on collection trucks. Furthermore, we analyze data collected from ultrasonic sensors deployed on almost 50 different containers to measure fill levels. We describe the deployment steps and show that this approach, combined with anomaly detection and prediction techniques, has the potential to change the way this business operates. We also discuss the interest of the different datasets presented and multiobjective optimization issues. To the best of our knowledge, this article is the first major work dedicated to the world of professional waste collection.

Design and Implementation of a Virtual Sensor Network for Smart Waste Water Monitoring Monitoring and analysis of open air basins is a critical task in waste water plant management. These tasks generally require sampling waters at several hard to access points, be it real time with multiparametric sensor probes, or retrieving water samples. Full automation of these processes would require deploying hundreds (if not thousands) of fixed sensors, unless the sensors can be translated. This work proposes the utilization of robotized unmanned aerial vehicle (UAV) platforms to work as a virtual high density sensor network, which could analyze in real time or capture samples depending on the robotic UAV equipment. To check the validity of the concept, an instance of the robotized UAV platform has been fully designed and implemented. A multiagent system approach has been used (implemented over a Robot Operating System, ROS, middleware layer) to define a software architecture able to deal with the different problems, optimizing modularity of the software; in terms of hardware, the UAV platform has been designed and built, as a sample capturing probe. A description on the main features of the multiagent system proposed, its architecture, and the behavior of several components is discussed. The experimental validation and performance evaluation of the system components has been performed independently for the sake of safety: autonomous flight performance has been tested onsite; the accuracy of the localization technologies deemed as deployable options has been evaluated in controlled flights; and the viability of the sample capture device designed and built has been experimentally tested.