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Vision-based navigation systems in arable fields are an underexplored area in agricultural robot navigation. Vision systems deployed in arable fields face challenges such as fluctuating weed density, varying illumination levels, growth…
To efficiently manage plant diseases, Agriculture Cyber-Physical Systems (A-CPS) have been developed to detect and localize disease infestations by integrating the Internet of Agro-Things (IoAT). By the nature of plant and pathogen…
Robots have become increasingly prevalent in dynamic and crowded environments such as airports and shopping malls. In these scenarios, the critical challenges for robot navigation are reliability and timely arrival at predetermined…
Efficient crop production requires early detection of pest outbreaks and timely treatments; we consider a solution based on a fleet of multiple autonomous miniaturized unmanned aerial vehicles (nano-UAVs) to visually detect pests and a…
We consider an agro-ecologically motivated coupling between a prey-predator system and a vector-borne epidemic system. The coupled system contains one ODE, two reaction-diffusion PDEs and one reaction-diffusionadvection PDE; it has no…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
Stochastic Model Predictive Control has proved to be an efficient method to plan trajectories in uncertain environments, e.g., for autonomous vehicles. Chance constraints ensure that the probability of collision is bounded by a predefined…
Selective weed treatment is a critical step in autonomous crop management as related to crop health and yield. However, a key challenge is reliable, and accurate weed detection to minimize damage to surrounding plants. In this paper, we…
Achieving an evenly distributed fertilization spread pattern is a complex technical task. A corresponding control algorithm must account for the tractor movement, the settings of the spreader, the prescribed dosage as well as machine…
Autonomous agricultural vehicles (AAVs), including field robots and autonomous tractors, are becoming essential in modern farming by improving efficiency and reducing labor costs. A critical task in AAV operations is headland turning…
The use of an efficient coverage planning method is key for autonomous navigation in agricultural environments, where a robot must cover large areas of crops. This paper generally reviews the current state of the art of coverage path…
Invasive species pose major global threats to ecosystems and agriculture. Serrated tussock (\textit{Nassella trichotoma}) is a highly competitive invasive grass species that disrupts native grasslands, reduces pasture productivity, and…
For mobile robots to be effectively applied to real world unstructured environments -- such as large scale farming -- they require the ability to generate adaptive plans that account both for limited onboard resources, and the presence of…
Automated vehicles require the ability to cooperate with humans for smooth integration into today's traffic. While the concept of cooperation is well known, developing a robust and efficient cooperative trajectory planning method is still a…
We study a semantic SLAM problem faced by a robot tasked with autonomous weeding under the corn canopy. The goal is to detect corn stalks and localize them in a global coordinate frame. This is a challenging setup for existing algorithms…
Recent mosquito-borne outbreaks have revealed vulnerabilities in our abatement programmes, raising concerns about how abatement-districts should choose optimal future control strategies. Spatial dissemination of vector-borne disease is…
Congestion tollings have been widely developed and adopted as an effective tool to mitigate urban traffic congestion and enhance transportation system sustainability. Nevertheless, these tolling schemes are often tailored on a city-by-city…
The tractor-trailer robot consists of a drivable tractor and one or more non-drivable trailers connected via hitches. Compared to typical car-like robots, the addition of trailers provides greater transportation capability. However, this…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…