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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…
This article is an overview of the various literature on path tracking methods and their implementation in simulation and realistic operating environments.The scope of this study includes analysis, implementation,tuning, and comparison of…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
The design of reliable path-following controllers is a key ingredient for successful deployment of self-driving vehicles. This controller-design problem is especially challenging for a general 2-trailer with a car-like tractor due to the…
This paper presents a novel approach to enhance Model Predictive Control (MPC) for legged robots through Distributed Optimization. Our method focuses on decomposing the robot dynamics into smaller, parallelizable subsystems, and utilizing…
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
Tree fruit growers around the world are facing labor shortages for critical operations, including harvest and pruning. There is a great interest in developing robotic solutions for these labor-intensive tasks, but current efforts have been…
A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…
This paper proposes an Adaptive Robust Model Predictive Control strategy for lateral control in lane keeping problems, where we continuously learn an unknown, but constant steering angle offset present in the steering system. Longitudinal…
This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's instantaneous rigid body motion. We introduce three specific…
Agile-legged robots have proven to be highly effective in navigating and performing tasks in complex and challenging environments, including disaster zones and industrial settings. However, these applications normally require the capability…
The problem of multi-object tracking (MOT) consists in detecting and tracking all the objects in a video sequence while keeping a unique identifier for each object. It is a challenging and fundamental problem for robotics. In precision…
The techniques of precision agriculture include the possibility to execute crop monitoring tasks through the application of Unmanned Aerial Vehicles (UAVs). These platforms are flexible, easy to use and low-cost, and they are the best…
Autonomous navigation of a robot in agricultural fields is essential for every task from crop monitoring to weed management and fertilizer application. Many current approaches rely on accurate GPS, however, such technology is expensive and…
The agricultural sector is rapidly evolving to meet growing global food demands, yet tasks like fruit and vegetable handling remain labor-intensive, causing inefficiencies and post-harvest losses. Automation, particularly selective…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
Recent progress in robotic manipulation has dealt with the case of previously unknown objects in the context of relatively simple tasks, such as bin-picking. Existing methods for more constrained problems, however, such as deliberate…
Nonlinearity in dynamics has long been a major challenge in robotics, often causing significant performance degradation in existing control algorithms. For example, the navigation of bipedal robots can exhibit nonlinear behaviors even under…
There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop manipulation remains a difficult…