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This paper presents the challenges agricultural robotic harvesters face in detecting and localising fruits under various environmental disturbances. In controlled laboratory settings, both the traditional HSV (Hue Saturation Value)…
Autonomous harvesting in the open presents a complex manipulation problem. In most scenarios, an autonomous system has to deal with significant occlusion and require interaction in the presence of large structural uncertainties (every plant…
In recent years, the Robot Operating System (ROS) is developing rapidly and has been widely used in robotics research because of its flexible, open source, and extensive advantages. In scientific research, the corresponding hardware…
Plants come with sophisticated strategies to survive within a highly competing environment. In addition, they need to resist frequent attacks from a variety of herbivores acting alone, in small groups, or in swarms. Since the amount of…
Dexterous robotic hands have the capability to interact with a wide variety of household objects to perform tasks like grasping. However, learning robust real world grasping policies for arbitrary objects has proven challenging due to the…
Granular media (e.g., cereal grains, plastic resin pellets, and pills) are ubiquitous in robotics-integrated industries, such as agriculture, manufacturing, and pharmaceutical development. This prevalence mandates the accurate and efficient…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
We propose a novel approach to the 'reality gap' problem, i.e., modifying a robot simulation so that its performance becomes more similar to observed real world phenomena. This problem arises whether the simulation is being used by human…
Nature evolves creatures with a high complexity of morphological and behavioral intelligence, meanwhile computational methods lag in approaching that diversity and efficacy. Co-optimization of artificial creatures' morphology and control in…
Instrumenting and collecting annotated visual grasping datasets to train modern machine learning algorithms can be extremely time-consuming and expensive. An appealing alternative is to use off-the-shelf simulators to render synthetic data…
In areas that are inaccessible to humans, such as the lunar surface and landslide sites, there is a need for multiple autonomous mobile robot systems that can replace human workers. In particular, at landslide sites such as river channel…
This paper introduces an innovative dataset specifically crafted for challenging agricultural settings (a greenhouse), where achieving precise localization is of paramount importance. The dataset was gathered using a mobile platform…
This paper addresses the challenge of occluded robot grasping, i.e. grasping in situations where the desired grasp poses are kinematically infeasible due to environmental constraints such as surface collisions. Traditional robot…
This study presents Flower Pose Estimation (FloPE), a real-time flower pose estimation framework for computationally constrained robotic pollination systems. Robotic pollination has been proposed to supplement natural pollination to ensure…
Plant factory cultivation is widely recognized for its ability to optimize resource use and boost crop yields. To further increase the efficiency in these environments, we propose a mixed-integer linear programming (MILP) framework that…
Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. However, occlusions from plant foliage often hinder accurate shape…
The fields of soft and bio-inspired robotics promise to imbue synthetic systems with capabilities found in the natural world. However, many of these biological capabilities are yet to be realized. For example, vines in nature direct growth…
Horticultural enterprises are becoming more sophisticated as the range of the crops they target expands. Requirements for enhanced efficiency and productivity have driven the demand for automating on-field operations. However, various…
With the need to feed a growing world population, the efficiency of crop production is of paramount importance. To support breeding and field management, various characteristics of the plant phenotype need to be measured -- a time-consuming…
This paper introduces HoloBots, a mixed reality remote collaboration system that augments holographic telepresence with synchronized mobile robots. Beyond existing mixed reality telepresence, HoloBots lets remote users not only be visually…