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Path planners based on basic rapidly-exploring random trees (RRTs) are quick and efficient, and thus favourable for real-time robot path planning, but are almost-surely suboptimal. In contrast, the optimal RRT (RRT*) converges to the…
Efficient path planning for autonomous mobile robots is a critical problem across numerous domains, where optimizing both time and energy consumption is paramount. This paper introduces a novel methodology that considers the dynamic…
Insects are the most important global pollinator of crops and play a key role in maintaining the sustainability of natural ecosystems. Insect pollination monitoring and management are therefore essential for improving crop production and…
Automation in farming processes is a growing field of research in both academia and industries. A considerable amount of work has been put into this field to develop systems robust enough for farming. Terrace farming, in particular,…
The problem of constrained coverage path planning involves a robot trying to cover maximum area of an environment under some constraints that appear as obstacles in the map. Out of the several coverage path planning methods, we consider…
Achieving long term autonomy of robots operating in dynamic environments such as farms remains a significant challenge. Arguably, the most demanding factors to achieve this are the on-board resource constraints such as energy, planning in…
Farms produce hundreds of thousands of data points on the ground daily. Farming technique which combines farming practices with the insights uncovered in these data points using AI technology is called precision farming. Precision farming…
We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…
The typical agricultural irrigation scheduler provides information on how much to irrigate and when to irrigate. The accurate and effective scheduler decision for a large agricultural field is still an open research problem. In this work,…
Line coverage is the task of servicing a given set of one-dimensional features in an environment. It is important for the inspection of linear infrastructure such as road networks, power lines, and oil and gas pipelines. This paper…
The sampling based motion planning algorithm known as Rapidly-exploring Random Trees (RRT) has gained the attention of many researchers due to their computational efficiency and effectiveness. Recently, a variant of RRT called RRT* has been…
In agriculture, crops need to apply pesticide spraying flow control precisely to reduce costs, protect the environment, and increase yield production. Although there have several variable control methods for spraying flow control because…
We propose an informative path planning (IPP) algorithm for active classification using an unmanned aerial vehicle (UAV), focusing on weed detection in precision agriculture. We model the presence of weeds on farmland using an occupancy…
This article aims at saving the wasted water in the process of irrigation using the Internet of Things (IoT) based on a set of sensors and Multi-Layer Perceptron (MLP) neural network. The developed system handles the sensor data using the…
In today's chemical plants, human field operators perform frequent integrity checks to guarantee high safety standards, and thus are possibly the first to encounter dangerous operating conditions. To alleviate their task, we present a…
With the growing emphasis on the development and integration of service robots within household environments, we will need to endow robots with the ability to reliably pour a variety of liquids. However, liquid handling and pouring is a…
The IoT vision of ubiquitous and pervasive computing gives rise to future smart irrigation systems comprising physical and digital world. Smart irrigation ecosystem combined with Machine Learning can provide solutions that successfully…
This study presents a methodology to safely manipulate branches to aid various agricultural tasks. Humans in a real agricultural environment often manipulate branches to perform agricultural tasks effectively, but current agricultural…
Robotic pollination offers a promising alternative to manual labor and bumblebee-assisted methods in controlled agriculture, where wind-driven pollination is absent and regulatory restrictions limit the use of commercial pollinators. In…
In recent years, the use of robots in agriculture has been increasing mainly due to the high demand of productivity, precision and efficiency, which follow the climate change effects and world population growth. Unlike conventional…