相关论文: Computer-Vision Based Real Time Waypoint Generatio…
This paper explores the concept of external magnetic control for vine robots to enable their high curvature steering and navigation for use in endoluminal applications. Vine robots, inspired by natural growth and locomotion strategies,…
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…
Soft, tip-extending vine robots are well suited for navigating tight, debris-filled environments, making them ideal for urban search and rescue. Sensing the full shape of a vine robot's body is helpful both for localizing information from…
This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent limitations of traditional bimanual manipulation, we introduce…
Most existing robotic harvesters utilize a unimanual approach; a single arm grasps the crop and detaches it, either via a detachment movement, or by cutting its stem with a specially designed gripper/cutter end-effector. However, such…
Early detection of vine disease is important to avoid spread of virus or fungi. Disease propagation can lead to a huge loss of grape production and disastrous economic consequences, therefore the problem represents a challenge for the…
Accurate localisation of crop remains highly challenging in unstructured environments such as farms. Many of the developed systems still rely on the use of hand selected features for crop identification and often neglect the estimation of…
Accurate localisation is critical for mobile robots in structured outdoor environments, yet LiDAR-based methods often fail in vineyards due to repetitive row geometry and perceptual aliasing. We propose a semantic particle filter that…
With the growing demand for efficient logistics, unmanned aerial vehicles (UAVs) are increasingly being paired with automated guided vehicles (AGVs). While UAVs offer the ability to navigate through dense environments and varying altitudes,…
Robots can use Visual Imitation Learning (VIL) to learn manipulation tasks from video demonstrations. However, translating visual observations into actionable robot policies is challenging due to the high-dimensional nature of video data.…
Recent developments in the domain of agricultural robotics have resulted in development of complex and efficient systems. Most of the land owners in the South Asian region are low income farmers. The agricultural experience for them is…
Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…
The growing demand for innovative research in the food industry is driving the adoption of robots in large-scale experimentation, as it offers increased precision, replicability, and efficiency in product manufacturing and evaluation. To…
Achieving efficient and consistent localization a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffers from sub-optimal viewpoints due to limited field of view (FOV) and/or constrained motion, thus…
Robotic tree pruning requires highly precise manipulator control in order to accurately align a cutting implement with the desired pruning point at the correct angle. Simultaneously, the robot must avoid applying excessive force to rigid…
Wheeled robot navigation has been widely used in urban environments, but little research has been conducted on its navigation in wild vegetation. External sensors (LiDAR, camera etc.) are often used to construct point cloud map of the…
Guiding robots can not only detect close-range obstacles like other guiding tools, but also extend its range to perceive the environment when making decisions. However, most existing works over-simplified the interaction between human…
Precision agriculture is considered to be a fundamental approach in pursuing a low-input, high-efficiency, and sustainable kind of agriculture when performing site-specific management practices. To achieve this objective, a reliable and…
Robots operating in human-centered environments, such as retail stores, restaurants, and households, are often required to distinguish between similar objects in different contexts with a high degree of accuracy. However, fine-grained…
In this paper, we present the lessons learnt during the development of a new robotic harvester (Harvey) that can autonomously harvest sweet pepper (capsicum) in protected cropping environments. Robotic harvesting offers an attractive…