Related papers: Where to Perch in a Tree: Vision-Guidance for Tree…
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…
This paper formulates a team orienteering problem with multiple fixed-wing drones and develops a branch-and-price algorithm to solve the problem to optimality. Fixed-wing drones, unlike rotary drones, have kinematic constraints associated…
Search missions require motion planning and navigation methods for information gathering that continuously replan based on new observations of the robot's surroundings. Current methods for information gathering, such as Monte Carlo Tree…
Dormant pruning of fruit trees is an important task for maintaining tree health and ensuring high-quality fruit. Due to decreasing labor availability, pruning is a prime candidate for robotic automation. However, pruning also represents a…
Optimization problems with drones are widely studied in a variety of civilian tasks, mainly due to their ability to traverse rough terrains and to carry cameras and other sensors for surveillance tasks. The limited battery life of these…
Computing an optimal classification tree that provably maximizes training performance within a given size limit, is NP-hard, and in practice, most state-of-the-art methods do not scale beyond computing optimal trees of depth three.…
The task of counting eucalyptus trees from aerial images collected by unmanned aerial vehicles (UAVs) has been frequently explored by techniques of estimation of the basal area, i.e, by determining the expected number of trees based on…
Drones have a fairly short range due to their limited battery life. We propose an adaptive exploration techniques to extend the range of drones by taking advantage of physical structures such as tall buildings and trees in urban…
Our goal is to visualize an additional data dimension of a tree with multifaceted data through superimposition on vertical strips, which we call columns. Specifically, we extend upward drawings of unordered rooted trees where vertices have…
We introduce a novel deep learning method for detection of individual trees in urban environments using high-resolution multispectral aerial imagery. We use a convolutional neural network to regress a confidence map indicating the locations…
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 graph edit distance is used for comparing graphs in various domains. Due to its high computational complexity it is primarily approximated. Widely-used heuristics search for an optimal assignment of vertices based on the distance…
Drones are conventionally controlled using joysticks, remote controllers, mobile applications, and embedded computers. A few significant issues with these approaches are that drone control is limited by the range of electromagnetic…
Robot pick and place systems have traditionally decoupled grasp, placement, and motion planning to build sequential optimization pipelines with the assumption that the individual components will be able to work together. However, this…
Drones can provide a minimally-constrained adapting camera view to support robot telemanipulation. Furthermore, the drone view can be automated to reduce the burden on the operator during teleoperation. However, existing approaches do not…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
Robots in the real world frequently come across identical objects in dense clutter. When evaluating grasp poses in these scenarios, a target-driven grasping system requires knowledge of spatial relations between scene objects (e.g.,…
In vegetated environments, such as forests, exploratory robots play a vital role in navigating complex, cluttered environments where human access is limited and traditional equipment struggles. Visual occlusion from obstacles, such as…
We present an online visual tracking algorithm by managing multiple target appearance models in a tree structure. The proposed algorithm employs Convolutional Neural Networks (CNNs) to represent target appearances, where multiple CNNs…
Tree roots detection is a popular application of the Ground-penetrating radar (GPR). Normally, the ground surface above the tree roots is assumed to be flat, and standard processing methods based on hyperbolic fitting are applied to the…