相关论文: Kriging-Based Robotic Exploration for Soil Moistur…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
We develop a deep learning based convolutional-regression model that estimates the volumetric soil moisture content in the top ~5 cm of soil. Input predictors include Sentinel-1 (active radar), Sentinel-2 (optical imagery), and SMAP…
Soil moisture dynamics provide an indicator of soil health that scientists model via drydown curves. The typical modelling process requires the soil moisture time series to be manually separated into drydown segments and then exponential…
We present a contact-based phenotyping robot platform that can autonomously insert nitrate sensors into cornstalks to proactively monitor macronutrient levels in crops. This task is challenging because inserting such sensors requires…
Utilizing the capabilities of configurable sensing systems requires addressing difficult information gathering problems. Near-optimal approaches exist for sensing systems without internal states. However, when it comes to optimizing the…
Traditional field phenotyping methods are often manual, time-consuming, and destructive, posing a challenge for breeding progress. To address this bottleneck, robotics and automation technologies offer efficient sensing tools to monitor…
The microwave imaging system(MIS) stands out among prominent imaging tools for capturing images of concealed obstacles. Leveraging its capability to penetrate through heterogeneous environments MIS has been widely used for subsurface…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
Water level monitoring is critical for flood management, water resource allocation, and ecological assessment, yet traditional methods remain costly and limited in coverage. This work explores radar-based sensing as a low-cost alternative…
Coverage problem in wireless sensor networks measures how well a region or parts of it is sensed by the deployed sensors. Definition of coverage metric depends on its applications for which sensors are deployed. In this paper, we introduce…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
This work presents an innovative solution for robotic odometry, path planning and exploration in wild unknown environments, focusing on digital modelling. The approach uses a minimum cost formulation with pseudo-randomly generated…
Quantifying greenhouse-gases (GHG) in wetlands is critical for climate modeling and restoration assessment, yet manual sampling is labor-intensive, and time demanding. We present WetExplorer, an autonomous tracked robot that automates the…
Synergetic use of sensors for soil moisture retrieval is attracting considerable interest due to the different advantages of different sensors. Active, passive, and optic data integration could be a comprehensive solution for exploiting the…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
We propose a new method for autonomous navigation in uneven terrains by utilizing a sparse Gaussian Process (SGP) based local perception model. The SGP local perception model is trained on local ranging observation (pointcloud) to learn the…
Mobile robot platforms are increasingly being used to automate information gathering tasks such as environmental monitoring. Efficient target tracking in dynamic environments is critical for applications such as search and rescue and…
The agriculture sector requires a lot of labor and resources. Hence, farmers are constantly being pressed for technology and automation to be cost-effective. In this context, autonomous robots can play a very important role in carrying out…
The combination of aerial survey capabilities of Unmanned Aerial Vehicles with targeted intervention abilities of agricultural Unmanned Ground Vehicles can significantly improve the effectiveness of robotic systems applied to precision…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…