Related papers: An autonomous robot for pruning modern, planar fru…

Legged robots are increasingly being adopted in industries such as oil, gas, mining, nuclear, and agriculture. However, new challenges exist when moving into natural, less-structured environments, such as forestry applications. This paper…

Decision trees are an extremely popular machine learning technique. Unfortunately, overfitting in decision trees still remains an open issue that sometimes prevents achieving good performance. In this work, we present a novel approach for…

Adapting pre-trained neural models to downstream tasks has become the standard practice for obtaining high-quality models. In this work, we propose a novel model adaptation paradigm, adapting by pruning, which prunes neural connections in…

As deep neural networks (DNNs) are increasingly deployed on edge devices, optimizing models for constrained computational resources is critical. Existing auto-pruning methods face challenges due to the diversity of DNN models, various…

When deploying pre-trained neural network models in real-world applications, model consumers often encounter resource-constraint platforms such as mobile and smart devices. They typically use the pruning technique to reduce the size and…

The autonomous measurement of tree traits, such as branching structure, branch diameters, branch lengths, and branch angles, is required for tasks such as robotic pruning of trees as well as structural phenotyping. We propose a robotic…

Multi-robot path planning is a computational process involving finding paths for each robot from its start to the goal while ensuring collision-free operation. It is widely used in robots and autonomous driving. However, the computational…

Accurate tree segmentation is a key step in extracting individual tree metrics from forest laser scans, and is essential to understanding ecosystem functions in carbon cycling and beyond. Over the past decade, tree segmentation algorithms…

In the efforts for safer roads, ensuring adequate vertical clearance above roadways is of great importance. Frequently, trees or other vegetation is growing above the roads, blocking the sight of traffic signs and lights and posing danger…

We present a novel algorithm for the minimum-depth elimination tree problem, which is equivalent to the optimal treedepth decomposition problem. Our algorithm makes use of two cheaply-computed lower bound functions to prune the search tree,…

This paper presents a comprehensive sim-to-real pipeline for autonomous strawberry picking from dense clusters using a Franka Panda robot. Our approach leverages a custom Mujoco simulation environment that integrates domain randomization…

Rising global food demand and harsh working conditions make fruit harvest an important domain to automate. Peduncle localization is an important step for any automated fruit harvesting system, since fruit separation techniques are highly…

Determinisation and completion of finite tree automata are important operations with applications in program analysis and verification. However, the complexity of the classical procedures for determinisation and completion is high. They are…

Robotic pollinators not only can aid farmers by providing more cost effective and stable methods for pollinating plants but also benefit crop production in environments not suitable for bees such as greenhouses, growth chambers, and in…

In this paper we present a novel probabilistic sampling-based motion planning algorithm called the Fast Marching Tree algorithm (FMT*). The algorithm is specifically aimed at solving complex motion planning problems in high-dimensional…

Linear model trees are regression trees that incorporate linear models in the leaf nodes. This preserves the intuitive interpretation of decision trees and at the same time enables them to better capture linear relationships, which is hard…

Rehabilitation of aging pipes requires accurate condition assessment and mapping far into the pipe interiors. Soft growing vine robot systems are particularly promising for navigating confined, sinuous paths such as in pipes, but are…

Segmentation in dynamic outdoor environments can be difficult when the illumination levels and other aspects of the scene cannot be controlled. Specifically in orchard and vineyard automation contexts, a background material is often used to…

Automating tasks in outdoor agricultural fields poses significant challenges due to environmental variability, unstructured terrain, and diverse crop characteristics. We present a robotic system for autonomous pepper harvesting designed to…

Sampling-based motion planning algorithms are widely used in robotics because they are very effective in high-dimensional spaces. However, the success rate and quality of the solutions are determined by an adequate selection of their…