Related papers: Autonomous Forest Inventory with Legged Robots: Sy…
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that…
Robotics would gain by replicating the remarkable agility of arthropods in navigating complex environments. Here we consider the control of multi-legged systems which have 6 or more legs. Current multi-legged control strategies in robots…
Natural environments pose significant challenges for autonomous robot navigation, particularly due to their unstructured and ever-changing nature. Hiking trails, with their dynamic conditions influenced by weather, vegetation, and human…
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.…
Global climate change has had a drastic impact on our environment. Previous study showed that pest disaster occured from global climate change may cause a tremendous number of trees died and they inevitably became a factor of forest fire.…
This paper presents a non-parametric approach for segmenting trees from airborne LiDAR data in deciduous forests. Based on the LiDAR point cloud, the approach collects crown information such as steepness and height on-the-fly to delineate…
Segmentation-based autonomous navigation has recently been presented as an appealing approach to guiding robotic platforms through crop rows without requiring perfect GPS localization. Nevertheless, current techniques are restricted to…
We present a modular robotic system for autonomous exploration and semantic updating of large-scale unknown environments. Our approach enables a mobile robot to build, revisit, and update a hybrid semantic map that integrates a 2D occupancy…
This paper describes a computationally-enhanced M100 UAV platform with an onboard deep learning inference system for integrated computer vision and navigation able to autonomously find and visually identify by coat pattern individual…
Agricultural robots must navigate challenging dynamic and semi-structured environments. Recently, environmental modeling using LiDAR-based SLAM has shown promise in providing highly accurate geometry. However, how this chaotic environmental…
Monitoring forest dynamics at an individual tree scale is essential for accurately assessing ecosystem responses to climate change, yet traditional methods relying on field-based forest inventories are labor-intensive and limited in spatial…
Humans use UAVs to monitor changes in forest environments since they are lightweight and provide a large variety of surveillance data. However, their information does not present enough details for understanding the scene which is needed to…
Autonomous navigation in unstructured vegetated environments remains an open challenge. To successfully operate in these settings, ground vehicles must assess the traversability of the environment and determine which vegetation is pliable…
Most legged robots are built with leg structures from serially mounted links and actuators and are controlled through complex controllers and sensor feedback. In comparison, animals developed multi-segment legs, mechanical coupling between…
The rapid developments of mobile robotics and autonomous navigation over the years are largely empowered by public datasets for testing and upgrading, such as sensor odometry and SLAM tasks. Impressive demos and benchmark scores have…
In this paper, with a view toward deployment of light-weight control frameworks for bipedal walking robots, we realize end-foot trajectories that are shaped by a single linear feedback policy. We learn this policy via a model-free and a…
Despite the progress in legged robotic locomotion, autonomous navigation in unknown environments remains an open problem. Ideally, the navigation system utilizes the full potential of the robots' locomotion capabilities while operating…
Creating robots that can assist in farms and gardens can help reduce the mental and physical workload experienced by farm workers. We tackle the problem of object search in a farm environment, providing a method that allows a robot to…
Given the importance of forests and their role in maintaining the ecological balance, which directly affects the planet, the climate, and the life on this planet, this research presents the problem of forest fire monitoring using drones.…
Locomotion mechanics of legged robots are suitable when pacing through difficult terrains. Recognising terrains for such robots are important to fully yoke the versatility of their movements. Consequently, robotic terrain classification…