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This paper addresses the challenge of industrial bin picking using entangled wire harnesses. Wire harnesses are essential in manufacturing but poses challenges in automation due to their complex geometries and propensity for entanglement.…
Robotic systems in manufacturing applications commonly assume known object geometry and appearance. This simplifies the task for the 3D perception algorithms and allows the manipulation to be more deterministic. However, those approaches…
Autonomous driving systems rely on panoptic perception to jointly handle object detection, drivable area segmentation, and lane line segmentation. Although multi-task learning is an effective way to integrate these tasks, its increasing…
Autonomous navigation in agricultural environments is challenged by varying field conditions that arise in arable fields. State-of-the-art solutions for autonomous navigation in such environments require expensive hardware such as RTK-GNSS.…
Fruit tree image segmentation is an essential problem in automating a variety of agricultural tasks such as phenotyping, harvesting, spraying, and pruning. Many research papers have proposed a diverse spectrum of solutions suitable to…
With the rapid growth of global e-commerce, the demand for automation in the logistics industry is increasing. This study focuses on automated picking systems in warehouses, utilizing deep learning and reinforcement learning technologies to…
With the goal of developing fully autonomous cooking robots, developing robust systems that can chop a wide variety of objects is important. Existing approaches focus primarily on the low-level dynamics of the cutting action, which…
This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories…
This paper presents a vision based robotic system to handle the picking problem involved in automatic express package dispatching. By utilizing two RealSense RGB-D cameras and one UR10 industrial robot, package dispatching task which is…
Bin picking is an important building block for many robotic systems, in logistics, production or in household use-cases. In recent years, machine learning methods for the prediction of 6-DoF grasps on diverse and unknown objects have shown…
The paper is concerned with the dynamic tracking problem of SNAP orchards harvesting robots in the presence of multiple uncalibrated model parameters in the application of dwarf culture orchards harvest. A new hybrid visual servoing…
This study presents a vision-guided robotic control system for automated fruit tree pruning applications. Traditional pruning practices are labor-intensive and limit agricultural efficiency and scalability, highlighting the need for…
Personalized fall detection system is shown to provide added and more benefits compare to the current fall detection system. The personalized model can also be applied to anything where one class of data is hard to gather. The results show…
We present new methods for apple detection and counting based on recent deep learning approaches and compare them with state-of-the-art results based on classical methods. Our goal is to quantify performance improvements by neural…
Reachability analysis is at the core of many applications, from neural network verification, to safe trajectory planning of uncertain systems. However, this problem is notoriously challenging, and current approaches tend to be either too…
Crop detection is integral for precision agriculture applications such as automated yield estimation or fruit picking. However, crop detection, e.g., apple detection in orchard environments remains challenging due to a lack of large-scale…
Accelerated ripening through the exposure of fruits to controlled environmental conditions and gases is nowadays one of the most assessed food technologies, especially for climacteric and exotic products. However, a fine granularity control…
Grasping a novel target object in constrained environments (e.g., walls, bins, and shelves) requires intensive reasoning about grasp pose reachability to avoid collisions with the surrounding structures. Typical 6-DoF robotic grasping…
One of the major challenges for the agricultural industry today is the uncertainty in manual labor availability and the associated cost. Automated flower and fruit density estimation, localization, and counting could help streamline…
In this paper, we present a comprehensive UAV system design to perform the highly complex task of off-centered aerial grasping. This task has several interdisciplinary research challenges which need to be addressed at once. The main design…