相关论文: Visual Servoing-based Navigation for Monitoring Ro…
Agriculture 3.0 and 4.0 have gradually introduced service robotics and automation into several agricultural processes, mostly improving crops quality and seasonal yield. Row-based crops are the perfect settings to test and deploy smart…
The challenge of traversability estimation is a crucial aspect of autonomous navigation in unstructured outdoor environments such as forests. It involves determining whether certain areas are passable or risky for robots, taking into…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
We present a robot navigation system that uses an imitation learning framework to successfully navigate in complex environments. Our framework takes a pre-built 3D scan of a real environment and trains an agent from pre-generated expert…
Deep reinforcement learning (RL) has been successfully applied to a variety of game-like environments. However, the application of deep RL to visual navigation with realistic environments is a challenging task. We propose a novel learning…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
On-orbit servicing (OOS) activities will power the next big step for sustainable exploration and commercialization of space. Developing robotic capabilities for autonomous OOS operations is a priority for the space industry. Visual Servoing…
Monitoring agricultural activities is important to ensure food security. Remote sensing plays a significant role for large-scale continuous monitoring of cultivation activities. Time series remote sensing data were used for the generation…
Warehouse logistics robots will work in different warehouse environments. In order to enable robots to perceive environment and plan path faster without modifying existing warehouses, we uses monocular camera to achieve an efficient robot…
We present PATHoBot an autonomous crop surveying and intervention robot for glasshouse environments. The aim of this platform is to autonomously gather high quality data and also estimate key phenotypic parameters. To achieve this we…
We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit…
In agricultural settings, the unstructured nature of certain production environments, along with the high complexity and inherent risks of production tasks, poses significant challenges to achieving full automation and effective on-site…
We exploit the complementary strengths of vision and proprioception to develop a point-goal navigation system for legged robots, called VP-Nav. Legged systems are capable of traversing more complex terrain than wheeled robots, but to fully…
Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…
Object-goal navigation is a challenging task that requires guiding an agent to specific objects based on first-person visual observations. The ability of agent to comprehend its surroundings plays a crucial role in achieving successful…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
The problem of image-based visual servoing (IBVS) of an aerial robot using deep-learning-based keypoint detection is addressed in this article. A monocular RGB camera mounted on the platform is utilized to collect the visual data. A…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…
Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…
This paper describes a framework for the object-goal navigation task, which requires a robot to find and move to the closest instance of a target object class from a random starting position. The framework uses a history of robot…