相关论文: Kriging-Based Robotic Exploration for Soil Moistur…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
Remote Sensing (RS) is a crucial technology for observing, monitoring, and interpreting our planet, with broad applications across geoscience, economics, humanitarian fields, etc. While artificial intelligence (AI), particularly deep…
Large-scale environmental sensing with a finite number of mobile sensors is a challenging task that requires a lot of resources and time. This is especially true when features in the environment are spatiotemporally changing with unknown or…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
High-resolution soil moisture (SM) observations are critical for agricultural monitoring, forestry management, and hazard prediction, yet current satellite passive microwave missions cannot directly provide retrievals at tens-of-meter…
Most of the existing robotic exploration schemes use occupancy grid representations and geometric targets known as frontiers. The occupancy grid representation relies on the assumption of independence between grid cells and ignores…
This article introduces a new mobile-based application of modern information and communication technology in agriculture based on Internet of Things (IoT), embedded systems and an unmanned aerial vehicle (UAV). The proposed agricultural…
Intra-class terrain differences such as water content directly influence a vehicle's ability to traverse terrain, yet RGB vision systems may fail to distinguish these properties. Evaluating a terrain's spectral content beyond red-green-blue…
This paper addresses the problem of trajectory planning for information gathering with a dynamic and resolution-varying sensor footprint. Ergodic planning offers a principled framework that balances exploration (visiting all areas) and…
Ground texture based localization methods are potential prospects for low-cost, high-accuracy self-localization solutions for robots. These methods estimate the pose of a given query image, i.e. the current observation of the ground from a…
Passive deformation due to compliance is a commonly used benefit of soft robots, providing opportunities to achieve robust actuation with few active degrees of freedom. Soft growing robots in particular have shown promise in navigation of…
Legged systems need to optimize contact force in order to maintain contacts. For this, the controller needs to have the knowledge of the surface geometry and how slippery the terrain is. We can use a vision system to realize the terrain,…
We present a methodology based on interferometric synthetic aperture radar (InSAR) time series analysis that can provide surface (top 5 cm) soil moisture (SSM) estimations. The InSAR time series analysis consists of five processing steps. A…
Automated and autonomous industrial inspection is a longstanding research field, driven by the necessity to enhance safety and efficiency within industrial settings. In addressing this need, we introduce an autonomously navigating robotic…
This paper proposes a fine-grained self-localization method for outdoor robotics that utilizes a flexible number of onboard cameras and readily accessible satellite images. The proposed method addresses limitations in existing cross-view…
The need for efficient monitoring of spatio-temporal dynamics in large environmental applications, such as the water quality monitoring in rivers and lakes, motivates the use of robotic sensors in order to achieve sufficient spatial…
Robotic information gathering (RIG) techniques refer to methods where mobile robots are used to acquire data about the physical environment with a suite of sensors. Informative planning is an important part of RIG where the goal is to find…
The search for extraterrestrial life has long been a primary focus of scientific exploration, driven by rapid advancements in technology and our understanding of the universe. The discovery of water on Mars has sparked significant interest,…
High resolution tactile sensing has great potential in autonomous mobile robotics, particularly for legged robots. One particular area where it has significant promise is the traversal of challenging, varied terrain. Depending on whether an…
Autonomous aerial robots provide new possibilities to study the habitats and behaviors of endangered species through the efficient gathering of location information at temporal and spatial granularities not possible with traditional manual…