Related papers: Kriging-Based Robotic Exploration for Soil Moistur…
A novel algorithm is developed to downscale soil moisture (SM), obtained at satellite scales of 10-40 km by utilizing its temporal correlations to historical auxiliary data at finer scales. Including such correlations drastically reduces…
In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…
Although wheeled robots have been predominant for planetary exploration, their geometry limits their capabilities when traveling over steep slopes, through rocky terrains, and in microgravity. Legged robots equipped with grippers are a…
This paper presents a method for determining the area explored by a line-sweep sensor during an area-covering mission in a two-dimensional plane. Accurate knowledge of the explored area is crucial for various applications in robotics, such…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
The surface soil moisture is a key variable to describe the exchange of water and energy between the land and the atmosphere. In hydrology, and meteorology, the amount of water in the upper soil layers permits (0-5 cm from the surface) the…
Accurate robot odometry is essential for autonomous navigation. While numerous techniques have been developed based on various sensor suites, odometry estimation using only radar and IMU remains an underexplored area. Radar proves…
We present a method for image-guided exploration for mobile robotic systems. Our approach extends ergodic exploration methods, a recent exploration approach that prioritizes complete coverage of a space, with the use of a learned image…
During past decades a marked manifestation of widespread erosion phenomena was studied worldwide. Global conservation community has launched campaigns at local, regional and continental level in developing countries for preservation of soil…
In mobile robotics, coverage navigation refers to the deliberate movement of a robot with the purpose of covering a certain area or volume. Performing this task properly is fundamental for the execution of several activities, for instance,…
We develop an algorithm to explore an environment to generate a measurement model for use in future localization tasks. Ergodic exploration with respect to the likelihood of a particular class of measurement (e.g., a contact detection…
With the advancement of technology and the arrival of miniaturized environmental sensors that offer greater performance, the idea of building mobile network sensing for air quality has quickly emerged to increase our knowledge of air…
In-situ robotic exploration is an important tool for advancing knowledge of geological processes that describe the Earth and other Planetary bodies. To inform and enhance operations for these roving laboratories, it is imperative to…
Last two decades, the problem of robotic mapping has made a lot of progress in the research community. However, since the data provided by the sensor still contains noise, how to obtain an accurate map is still an open problem. In this…
We propose a framework for active mapping and exploration that leverages Gaussian splatting for constructing dense maps. Further, we develop a GPU-accelerated motion planning algorithm that can exploit the Gaussian map for real-time…
Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Perceiving the environment through touch is important for robots to reach in cluttered environments, but devising a way to sense without disturbing objects is challenging. This work presents the design and modelling of whisker-inspired…
Machine learning and geostatistics are two fundamentally different frameworks for predicting and spatially mapping soil properties. Geostatistics leverages the spatial structure of soil properties, while machine learning captures the…
Planetary exploration missions require robots capable of navigating extreme and unknown environments. While wheeled rovers have dominated past missions, their mobility is limited to traversable surfaces. Legged robots, especially…