Related papers: Localization in Unstructured Environments: Towards…
A mobile robot's precise location information is critical for navigation and task processing, especially for a multi-robot system (MRS) to collaborate and collect valuable data from the field. However, a robot in situations where it does…
Forests offer essential resources and services to humanity, yet preserving and restoring them presents challenges, particularly due to the limited availability of actionable data, especially in hard-to-reach areas like forest canopies.…
In unknown non-convex environments, such as indoor and underground spaces, deploying a fleet of robots to explore the surroundings while simultaneously searching for and tracking targets of interest to maintain high-precision data…
Terrain adaptation is an essential capability for a ground robot to effectively traverse unstructured off-road terrain in real-world field environments such as forests. However, the expected robot behaviors generated by terrain adaptation…
Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…
Accurate mapping of individual trees is an important component for precision agriculture in orchards, as it allows autonomous robots to perform tasks like targeted operations or individual tree monitoring. However, creating these maps is…
Compared to conventional decomposition methods that use ellipses or polygons to represent free space, starshaped representation can better capture the natural distribution of sensor data, thereby exploiting a larger portion of traversable…
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.…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
In this work, we present FRTree planner, a novel robot navigation framework that leverages a tree structure of free regions, specifically designed for navigation in cluttered and unknown environments with narrow passages. The framework…
Robots are increasingly operating in indoor environments designed for and shared with people. However, robots working safely and autonomously in uneven and unstructured environments still face great challenges. Many modern indoor…
Localization is one of the most crucial tasks for Unmanned Aerial Vehicle systems (UAVs) directly impacting overall performance, which can be achieved with various sensors and applied to numerous tasks related to search and rescue…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
Access to below-canopy volumetric vegetation data is crucial for understanding ecosystem dynamics. We address the long-standing limitation of remote sensing to penetrate deep into dense canopy layers. LiDAR and radar are currently…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Trees are key components of the terrestrial biosphere, playing vital roles in ecosystem function, climate regulation, and the bioeconomy. However, large-scale monitoring of individual trees remains limited by inadequate modelling. Available…
Delineation approaches provide significant benefits to various domains, including agriculture, environmental and natural disasters monitoring. Most of the work in the literature utilize traditional segmentation methods that require a large…
In this paper, we introduce a novel method for safe navigation in agricultural robotics. As global environmental challenges intensify, robotics offers a powerful solution to reduce chemical usage while meeting the increasing demands for…
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to…
Forest carbon offsets are increasingly popular and can play a significant role in financing climate mitigation, forest conservation, and reforestation. Measuring how much carbon is stored in forests is, however, still largely done via…