相关论文: Robotic Lime Picking by Considering Leaves as Perm…

Path planning for 3D solid objects is a challenging problem, requiring a search in a six-dimensional configuration space, which is, nevertheless, essential in many robotic applications such as bin-picking and assembly. The commonly used…

In this paper, we propose a novel sampling-based planner for multi-goal path planning among obstacles, where the objective is to visit predefined target locations while minimizing the travel costs. The order of visiting the targets is often…

Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…

This paper proposes a rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. At each iteration, the proposed algorithm, called HyRRT, randomly picks a state sample and extends the search tree…

Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…

The paper presents an algorithm, called Self-Morphing Adaptive Replanning Tree (SMART), that facilitates fast replanning in dynamic environments. SMART performs risk based tree-pruning if the current path is obstructed by nearby moving…

Automated segmentation of individual leaves of a plant in an image is a prerequisite to measure more complex phenotypic traits in high-throughput phenotyping. Applying state-of-the-art machine learning approaches to tackle leaf instance…

In robotic fruit picking applications, managing object occlusion in unstructured settings poses a substantial challenge for designing grasping algorithms. Using strawberry harvesting as a case study, we present an end-to-end framework for…

Driven by the need to address labor shortages and meet the demands of a rapidly growing population, robotic automation has become a critical component in precision agriculture. Leaf-level hyperspectral spectroscopy is shown to be a powerful…

We introduce a computational origami problem which we call the segment folding problem: given a set of $n$ line-segments in the plane the aim is to make creases along all segments in the minimum number of folding steps. Note that a folding…

Automatic plant recognition and disease analysis may be streamlined by an image of a complete, isolated leaf as an initial input. Segmenting leaves from natural images is a hard problem. Cluttered and complex backgrounds: often composed of…

The accumulation of litter is increasing in many places and is consequently becoming a problem that must be dealt with. In this paper, we present a manipulator robotic system to collect litter in outdoor environments. This system has three…

Automating leaf manipulation in agricultural settings faces significant challenges, including the variability of plant morphologies and deformable leaves. We propose a novel hybrid geometric-neural approach for autonomous leaf grasping that…

Robotic manipulation and grasping in cluttered and unstructured environments is a current challenge for robotics. Enabling robots to operate in these challenging environments have direct applications from automating warehouses to harvesting…

This paper describes a method of online refinement of a scene recognition model for robot navigation considering traversable plants, flexible plant parts which a robot can push aside while moving. In scene recognition systems that consider…

Rapidly-exploring Random Tree (RRT) algorithms have been applied successfully to challenging robot motion planning and under-actuated nonlinear control problems. However a fundamental limitation of the RRT approach is the slow convergence…

Grasping a novel target object in constrained environments (e.g., walls, bins, and shelves) requires intensive reasoning about grasp pose reachability to avoid collisions with the surrounding structures. Typical 6-DoF robotic grasping…

There are 50 billion pieces of litter in the U.S. alone. Grass fields contribute to this problem because picnickers tend to leave trash on the field. We propose building a robot that can autonomously navigate, identify, and pick up trash in…

In this paper, an algorithm for Unmanned Aircraft Systems Traffic Management (UTM) for a finite number of unmanned aerial vehicles (UAVs) is proposed. This algorithm is developed by combining the Rapidly-Exploring Random Trees (RRT) and…

Automatic weeding technologies have attained a lot of attention lately, because of the harms and challenges weeds are causing for livestock farming, in addition to that weeds reduce yields. We are targeting automatic and mechanical Rumex…