Related papers: Computer-Vision Based Real Time Waypoint Generatio…
Agriculture has always remained an integral part of the world. As the human population keeps on rising, the demand for food also increases, and so is the dependency on the agriculture industry. But in today's scenario, because of low yield,…
This work is on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation. Current pose adaptation strategies optimize the robot's body pose relative to given footholds.…
In (grapevine) breeding programs and research, periodic phenotyping and multi-year monitoring of different grapevine traits, like growth or yield, is needed especially in the field. This demand imply objective, precise and automated methods…
Service robotics is recently enhancing precision agriculture enabling many automated processes based on efficient autonomous navigation solutions. However, data generation and infield validation campaigns hinder the progress of large-scale…
Crop monitoring is essential for precision agriculture, but current systems lack high-level reasoning. We introduce a novel, modular framework that uses a Visual Language Model (VLM) to guide robotic task planning, interleaving input…
Effective robot navigation in unseen environments is a challenging task that requires precise control actions at high frequencies. Recent advances have framed it as an image-goal-conditioned control problem, where the robot generates…
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…
Grasp verification is advantageous for autonomous manipulation robots as they provide the feedback required for higher level planning components about successful task completion. However, a major obstacle in doing grasp verification is…
Autonomous vehicles have limited computational resources and thus require efficient control systems. The cost and size of sensors have limited the development of self-driving cars. To overcome these restrictions, this study proposes an…
In this work, we present a comparative analysis of the trajectories estimated from various Simultaneous Localization and Mapping (SLAM) systems in a simulation environment for vineyards. Vineyard environment is challenging for SLAM methods,…
Small robots that can operate under the plant canopy can enable new possibilities in agriculture. However, unlike larger autonomous tractors, autonomous navigation for such under canopy robots remains an open challenge because Global…
Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot needs to be positioned precisely relative to an object for…
With the increasing adoption of robots across industries, it is crucial to focus on developing advanced algorithms that enable robots to anticipate, comprehend, and plan their actions effectively in collaboration with humans. We introduce…
Modern herbicide application in agricultural settings typically relies on either large scale sprayers that dispense herbicide over crops and weeds alike or portable sprayers that require labor intensive manual operation. The former method…
Agricultural robots have emerged as powerful members in agricultural tasks, nevertheless, still heavily rely on manual operation or untransportable railway for movement, resulting in limited mobility and poor adaptability.…
Vine robots extend their tubular bodies by everting material from the tip, enabling navigation in complex environments with a minimalist soft body. Despite their promise for field applications, especially in the urban search and rescue…
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we present Wild Visual Navigation (WVN), an…
Cotton is a major cash crop in the United States, with the country being a leading global producer and exporter. Nearly all U.S. cotton is grown in the Cotton Belt, spanning 17 states in the southern region. Harvesting remains a critical…
We present a novel system, AdVENTR for autonomous robot navigation in unstructured outdoor environments that consist of uneven and vegetated terrains. Our approach is general and can enable both wheeled and legged robots to handle outdoor…
Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…