相关论文: Local Motion Planner for Autonomous Navigation in …

Autonomous navigation is an essential capability of smart mobility for mobile robots. Traditional methods must have the environment map to plan a collision-free path in workspace. Deep reinforcement learning (DRL) is a promising technique…

How can a delivery robot navigate reliably to a destination in a new office building, with minimal prior information? To tackle this challenge, this paper introduces a two-level hierarchical approach, which integrates model-free deep…

Digital agriculture has evolved significantly over the last few years due to the technological developments in automation and computational intelligence applied to the agricultural sector, including vineyards which are a relevant crop in…

Service robotics is recently enhancing precision agriculture enabling many automated processes based on efficient autonomous navigation solutions. However, data generation and infield validation campaigns hinder the progress of large-scale…

In precision crop protection, (target-orientated) object detection in image processing can help navigate Unmanned Aerial Vehicles (UAV, crop protection drones) to the right place to apply the pesticide. Unnecessary application of non-target…

Autonomous vehicle navigation in unstructured environments, such as forests and mountainous regions, presents significant challenges due to irregular terrain and complex road conditions. This work provides a comparative evaluation of…

The segmentation of drivable areas and road anomalies are critical capabilities to achieve autonomous navigation for robotic wheelchairs. The recent progress of semantic segmentation using deep learning techniques has presented effective…

This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…

We present a navigation system that combines ideas from hierarchical planning and machine learning. The system uses a traditional global planner to compute optimal paths towards a goal, and a deep local trajectory planner and velocity…

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…

Autonomous navigation is a long-standing field of robotics research, which provides an essential capability for mobile robots to execute a series of tasks on the same environments performed by human everyday. In this chapter, we present a…

This study focuses on optimizing path planning for unmanned ground vehicles (UGVs) in precision agriculture using deep reinforcement learning (DRL) techniques in continuous action spaces. The research begins with a review of traditional…

Achieving success in agricultural activities heavily relies on precise navigation in row crop fields. Recently, segmentation-based navigation has emerged as a reliable technique when GPS-based localization is unavailable or higher accuracy…

Machine vision is a critical subsystem for enabling robots to be able to perform a variety of tasks in orchard environments. However, orchards are highly visually complex environments, and computer vision algorithms operating in them must…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

In the area of autonomous driving, navigating off-road terrains presents a unique set of challenges, from unpredictable surfaces like grass and dirt to unexpected obstacles such as bushes and puddles. In this work, we present a novel…

This work describes the process of integrating a depth camera into the navigation system of a self-driving ground vehicle (SDV) and the implementation of a multilayer costmap that enhances the vehicle's obstacle identification process by…

This study develops a robot mobility policy based on deep reinforcement learning. Since traditional methods of conventional robotic navigation depend on accurate map reproduction as well as require high-end sensors, learning-based methods…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

In this work, we present a comparative analysis of the trajectories estimated from various Simultaneous Localization and Mapping (SLAM) systems in a simulation environment for vineyards. Vineyard environment is challenging for SLAM methods,…