Related papers: Graph-based View Motion Planning for Fruit Detecti…
This paper presents a 3D visual detection method for the challenging task of detecting peduncles of sweet peppers (Capsicum annuum) in the field. Cutting the peduncle cleanly is one of the most difficult stages of the harvesting process,…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
One goal of dexterous robotic grasping is to allow robots to handle objects with the same level of flexibility and adaptability as humans. However, it remains a challenging task to generate an optimal grasping strategy for dexterous hands,…
The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. Using mobile robots for gas detection has several advantages and can reduce danger for humans.…
We propose a novel hybrid cable-based robot with manipulator and camera for high-accuracy, medium-throughput plant monitoring in a vertical hydroponic farm and, as an example application, demonstrate non-destructive plant mass estimation.…
Autonomous aerial harvesting is a highly complex problem because it requires numerous interdisciplinary algorithms to be executed on mini low-powered computing devices. Object detection is one such algorithm that is compute-hungry. In this…
Given a two-dimensional polygonal space, the multi-robot visibility-based pursuit-evasion problem tasks several pursuer robots with the goal of establishing visibility with an arbitrarily fast evader. The best known complete algorithm for…
This paper presents a hierarchical motion planner for planning the manipulation motion to repose long and heavy objects considering external support surfaces. The planner includes a task level layer and a motion level layer. We formulate…
Reducing the use of agrochemicals is an important component towards sustainable agriculture. Robots that can perform targeted weed control offer the potential to contribute to this goal, for example, through specialized weeding actions such…
Fruit recognition using Deep Convolutional Neural Network (CNN) is one of the most promising applications in computer vision. In recent times, deep learning based classifications are making it possible to recognize fruits from images.…
With the rapid development of drone technology, the application of drones equipped with visual sensors for building inspection and surveillance has attracted much attention. View planning aims to find a set of near-optimal viewpoints for…
This study addresses the demand for real-time detection of tomatoes and tomato flowers by agricultural robots deployed on edge devices in greenhouse environments. Under practical imaging conditions, object detection systems often face…
Earth Observation Satellite Planning (EOSP) is a difficult optimization problem with considerable practical interest. A set of requested observations must be scheduled on an agile Earth observation satellite while respecting constraints on…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Challenges in strawberry picking made selective harvesting robotic technology demanding. However, selective harvesting of strawberries is complicated forming a few scientific research questions. Most available solutions only deal with a…
In this paper we propose an end-to-end learnable approach that detects static urban objects from multiple views, re-identifies instances, and finally assigns a geographic position per object. Our method relies on a Graph Neural Network…
This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…
This paper presents an autonomous tomato-harvesting system built around a hybrid robotic gripper that combines six soft auxetic fingers with a rigid exoskeleton and a latex basket to achieve gentle, cage-like grasping. The gripper is driven…
Motion planning problems have been studied by both the robotics and the controls research communities for a long time, and many algorithms have been developed for their solution. Among them, incremental sampling-based motion planning…
The advancement of agricultural robotics holds immense promise for transforming fruit harvesting practices, particularly within the apple industry. The accurate detection and localization of fruits are pivotal for the successful…