Related papers: 3D Steering and Localization in Pipes and Burrows …
A new 3D localization and mapping techinque with terrain inclination assistance is proposed in this paper to allow a robot to identify its location and build a global map in an outdoor environment. The Iterative Closest Points (ICP)…
To address the issues that arise due to the manual navigation of guidewires in endovascular interventions, research in medical robotics has taken a strong interest in developing robotically steerable guidewires, which offer the possibility…
Agricultural robots have the potential to increase production yields and reduce costs by performing repetitive and time-consuming tasks. However, for robots to be effective, they must be able to navigate autonomously in fields or orchards…
Leak detection and water quality monitoring are requirements and challenging tasks in Water Distribution Systems (WDS). In-line robots are designed for this aim. In our previous work, we designed an in-pipe robot [1]. In this research, we…
Growing robots based on the eversion principle are known for their ability to extend rapidly, from within, along their longitudinal axis, and, in doing so, reach deep into hitherto inaccessible, remote spaces. Despite many advantages,…
The VINUM project seeks to address the shortage of skilled labor in modern vineyards by introducing a cutting-edge mobile robotic solution. Leveraging the capabilities of the quadruped robot, HyQReal, this system, equipped with arm and…
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Reliable long-term deployment of autonomous robots in agricultural environments remains challenging due to perceptual aliasing, seasonal variability, and the dynamic nature of crop canopies. Vineyards, characterized by repetitive row…
Robots often need to solve path planning problems where essential and discrete aspects of the environment are partially observable. This introduces a multi-modality, where the robot must be able to observe and infer the state of its…
Ground robot navigation in complex 3D environments is often hindered by geometric ambiguity, where non-traversable structures such as furniture share local geometric properties with navigable ground. Furthermore, the computational cost of…
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…
Pruning is the art of cutting unwanted and unhealthy plant branches and is one of the difficult tasks in the field robotics. It becomes even more complex when the plant branches are moving. Moreover, the reproducibility of robot pruning…
This paper discusses the design and implementation of the Modular Pipe Climber inside ASTM D1785 - 15e1 standard pipes [1]. The robot has three tracks which operate independently and are mounted on three modules which are oriented at…
Autonomous navigation is the foundation of agricultural robots. This paper focuses on developing an advanced autonomous navigation system for a rover operating within row-based crops. A position-agnostic system is proposed to address the…
In this article, we present a mechanism and related path planning algorithm to construct light-duty barriers out of extruded, inflated tubes weaved around existing environmental features. Our extruded tubes are based on everted vine-robots…
Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…
This paper presents a study on the development of an obstacle-avoidance navigation system for autonomous navigation in home environments. The system utilizes vision-based techniques and advanced path-planning algorithms to enable the robot…
Localization in challenging, natural environments such as forests or woodlands is an important capability for many applications from guiding a robot navigating along a forest trail to monitoring vegetation growth with handheld sensors. In…
Dormant season grapevine pruning requires skilled seasonal workers during the winter season which are becoming less available. As workers hasten to prune more vines in less time amid to the short-term seasonal hiring culture and low wages,…