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Forestry is a major industry in many parts of the world. It relies on forest inventory, which consists of measuring tree attributes. We propose to use 3D mapping, based on the iterative closest point algorithm, to automatically measure tree…
There is evidence that flying animals such as pigeons, goshawks, and bats use optical flow sensing to enable high-speed flight through forest clutter. This paper discusses the elements of a theory of controlled flight through obstacle…
Perching is a promising solution for a small unmanned aerial vehicle (UAV) to save energy and extend operation time. This paper proposes a quadrotor that can perch on planar structures using the ceiling effect. Compared with the existing…
Developing a framework for the locomotion of a six-legged robot or a hexapod is a complex task that has extensive hardware and computational requirements. In this paper, we present a bio-inspired framework for the locomotion of a hexapod.…
Terrestrial animals and robots are susceptible to flipping-over during rapid locomotion in complex terrains. However, small robots are less capable of self-righting from an upside-down orientation compared to small animals like insects.…
My research objective is to explicitly bridge the gap between high computational performance and low power dissipation of robot on-board hardware by designing a bio-inspired tapered whisker neuromorphic computing (also called reservoir…
Robotic systems show significant promise for water environmental sensing applications such as water quality monitoring, pollution mapping and biodiversity data collection. Conventional deployment methods often disrupt fragile ecosystems,…
This technical report addresses the problem of optimal surveillance of the route followed by a dynamic parade using a team of aerial robots. The dynamic parade is considered to take place within an urban environment, it is discretized and…
Accurate estimation of aerodynamic forces is essential for advancing the control, modeling, and design of flapping-wing aerial robots with dynamic morphing capabilities. In this paper, we investigate two distinct methodologies for force…
We propose a novel method for autonomous legged robot navigation in densely vegetated environments with a variety of pliable/traversable and non-pliable/untraversable vegetation. We present a novel few-shot learning classifier that can be…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and…
State-of-the-art methods for data-driven modelling of non-linear dynamical systems typically involve interactions with an expert user. In order to partially automate the process of modelling physical systems from data, many EA-based…
This paper presents experimental results from real-time parameter estimation of a system model and subsequent trajectory optimization for a dynamic task using the Baxter Research Robot from Rethink Robotics. An active estimator maximizing…
Monitoring the health and vigor of grasslands is vital for informing management decisions to optimize rotational grazing in agriculture applications. To take advantage of forage resources and improve land productivity, we require knowledge…
Extrinsic manipulation, a technique that enables robots to leverage extrinsic resources for object manipulation, presents practical yet challenging scenarios. Particularly in the context of extrinsic manipulation on a supporting plane,…
Manipulation performance improvement is crucial for aerial robots. For aerial manipulators, the baselink position and attitude errors directly affect the precision at the end effector. To address this stability problem, fixed-body…
Segmenting tree structures is common in several image processing applications. In medical image analysis, reliable segmentations of airways, vessels, neurons and other tree structures can enable important clinical applications. We present a…
We present an autonomous aerial system for safe and efficient through-the-canopy fruit counting. Aerial robot applications in large-scale orchards face significant challenges due to the complexity of fine-tuning flight paths based on…
Micro-drones can be integrated into various industrial applications but are constrained by their computing power and expert pilots, a secondary challenge. This study presents a computationally-efficient deep convolutional neural network…