Related papers: GO-VMP: Global Optimization for View Motion Planni…
Continuous harvesting and storage of multiple fruits in a single operation allow robots to significantly reduce the travel distance required for repetitive back-and-forth movements. Traditional collision-free path planning algorithms, such…
In this paper, we consider the problem of generating inspection paths for robots. These paths should allow an attached measurement device to perform high-quality measurements. We formally show that generating robot paths, while maximizing…
In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the…
We introduce a new trajectory optimization method for robotic grasping based on a point-cloud representation of robots and task spaces. In our method, robots are represented by 3D points on their link surfaces. The task space of a robot is…
Search and rescue missions are often critical following sudden natural disasters or in high-risk environmental situations. The most challenging search and rescue missions involve difficult-to-access terrains, such as dense forests with high…
This paper addresses the visual localization problem in Global Positioning System (GPS)-denied environments, where computational resources are often limited. To achieve efficient and robust performance under these constraints, we propose a…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
Agricultural environments present high proportions of spatially dense navigation bottlenecks for long-term navigation and operational planning of agricultural mobile robots. The existing agent-centric multi-robot path planning (MRPP)…
Conventional linear crop layouts, optimised for tractors, hinder robotic navigation with tight turns, long travel distances, and perceptual aliasing. We propose a robot-centric square spiral layout with a central tramline, enabling simpler…
This paper presents a hybrid robot motion planner that generates long-horizon motion plans for robot navigation in environments with obstacles. We propose a hybrid planner, RRT* with segmented trajectory optimization (RRT*-sOpt), which…
Optimal path planning in nonconvex free spaces poses substantial computational challenges. A common approach formulates such problems as mixed-integer linear programs (MILPs); however, solving general MILPs is computationally intractable…
In this paper, we tackle the Multiple Watchman Route Problem (MWRP), which aims to find a set of paths that M watchmen can follow such that every location on the map can be seen by at least one watchman. First, we propose multiple methods…
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…
This paper explores minimum sensing navigation of robots in environments cluttered with obstacles. The general objective is to find a path plan to a goal region that requires minimal sensing effort. In [1], the information-geometric RRT*…
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…
In this work we consider the multi-agent motion planning (MAMP) problem with the constraint that agents arrive at their respective goals at the same time. For the special case where all agents are initially at rest we propose a two-step…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Gaussian Process (GP) formulation of continuoustime trajectory offers a fast solution to the motion planning problem via probabilistic inference on factor graph. However, often the solution converges to in-feasible local minima and the…
This paper studies the time-optimal path tracking problem for a team of cooperating robotic manipulators carrying an object. Considering the problem for rigidly grasped objects, we show that it can be cast as a convex optimization problem…
This paper proposes a novel approach to performing in-grasp manipulation: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp…