相关论文: Terrain assessment for precision agriculture using…
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,…
Knowledge about the maximum tire-road friction potential is an important factor to ensure the driving stability and traffic safety of the vehicle. Many authors proposed systems that either measure friction related parameters or estimate the…
Autonomous mobile robots operating in remote, unstructured environments must adapt to new, unpredictable terrains that can change rapidly during operation. In such scenarios, a critical challenge becomes estimating the robot's dynamics on…
We present a visual and inertial-based terrain classification network (VINet) for robotic navigation over different traversable surfaces. We use a novel navigation-based labeling scheme for terrain classification and generalization on…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
A complete overview of the surrounding vehicle environment is important for driver assistance systems and highly autonomous driving. Fusing results of multiple sensor types like camera, radar and lidar is crucial for increasing the…
Locomotion mechanics of legged robots are suitable when pacing through difficult terrains. Recognising terrains for such robots are important to fully yoke the versatility of their movements. Consequently, robotic terrain classification…
In this endeavor, we developed a comprehensive system that processes integrated visual features derived from video frames captured by a regular camera, along with depth details obtained from a point cloud scanner. This system is designed to…
Accurately predicting the trajectory of surrounding vehicles is a critical challenge for autonomous vehicles. In complex traffic scenarios, there are two significant issues with the current autonomous driving system: the cognitive…
Soil compaction is critical in construction engineering to ensure the stability of structures like road embankments and earth dams. Traditional methods for determining optimum moisture content (OMC) and maximum dry density (MDD) involve…
Traffic congestion and violations pose significant challenges for urban mobility and road safety. Traditional traffic monitoring systems, such as fixed cameras and sensor-based methods, are often constrained by limited coverage, low…
In this paper, we present a novel method to control a rigidly connected location on the vehicle, such as a point on the implement in case of agricultural tasks. Agricultural robots are transforming modern farming by enabling precise and…
This study proposes a learning-based method with domain adaptability for input estimation of vehicle suspension systems. In a crowdsensing setting for bridge health monitoring, vehicles carry sensors to collect samples of the bridge's…
Accurate prediction of excavation forces is critical for enabling autonomous operation and optimizing control strategies in earthmoving machinery. Conventional approaches often depend on extensive data collection or computationally…
The safe deployment of autonomous vehicles relies on their ability to effectively react to environmental changes. This can require maneuvering on varying surfaces which is still a difficult problem, especially for slippery terrains. To…
Present work deals with the dynamics of vehicles which intentionally operate in the ground proximity. The dynamics in ground effect is influenced by the vehicle orientation with respect to the ground, since the aerodynamic force and moment…
One of the main paths towards the reduction of traffic accidents is the increase in vehicle safety through driver assistance systems or even systems with a complete level of autonomy. In these types of systems, tasks such as obstacle…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still…
Automated vehicles (AVs) must be evaluated thoroughly before their release and deployment. A widely-used evaluation approach is the Naturalistic-Field Operational Test (N-FOT), which tests prototype vehicles directly on the public roads.…