相关论文: A Ground Mobile Robot for Autonomous Terrestrial L…

One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so the robot will not crash or slip. The high dimensionality of…

Terrestrial laser scanner is a kind of fast, high-precision data acquisition device, which had been more and more applied to the research areas of forest inventory. In this study, a kind of automated low-cost terrestrial laser scanner was…

This paper presents a state-of-the-art LiDAR based autonomous navigation system for under-canopy agricultural robots. Under-canopy agricultural navigation has been a challenging problem because GNSS and other positioning sensors are prone…

High-resolution cameras have become very helpful for plant phenotyping by providing a mechanism for tasks such as target versus background discrimination, and the measurement and analysis of fine-above-ground plant attributes. However, the…

Accurate 3D object detection with LiDAR is critical for autonomous driving. Existing research is all based on the flat-world assumption. However, the actual road can be complex with steep sections, which breaks the premise. Current methods…

Selective weeding is one of the key challenges in the field of agriculture robotics. To accomplish this task, a farm robot should be able to accurately detect plants and to distinguish them between crop and weeds. Most of the promising…

The ability to both recognize and discover terrain characteristics is an important function required for many autonomous ground robots such as social robots, assistive robots, autonomous vehicles, and ground exploration robots. Recognizing…

Precision soil greenhouse gas (GHG) flux prediction is essential in agricultural systems for assessing environmental impacts, developing emission mitigation strategies and promoting sustainable agriculture. Due to the lack of advanced…

Mobile robots should be capable of planning cost-efficient paths for autonomous navigation. Typically, the terrain and robot properties are subject to variations. For instance, properties of the terrain such as friction may vary across…

This extended abstract presents the design and evaluation of AgriOne, an automated unmanned ground vehicle (UGV) platform for high precision sensing of soil moisture in large agricultural fields. The developed robotic system is equipped…

Existing earthmoving autonomy is largely confined to highly controlled and well-characterized environments due to the complexity of vehicle-terrain interaction dynamics and the partial observability of the terrain resulting from unknown and…

Autonomous robots in orchards require real-time 3D scene understanding despite repetitive row geometry, seasonal appearance changes, and wind-driven foliage motion. We present AgriGS-SLAM, a Visual--LiDAR SLAM framework that couples direct…

3D Gaussian Splatting (3DGS) has garnered significant attention in robotics for its explicit, high fidelity dense scene representation, demonstrating strong potential for robotic applications. However, 3DGS-based methods in robotics…

This work introduces a hierarchical strategy for terrain-aware bipedal locomotion that integrates reduced-dimensional perceptual representations to enhance reinforcement learning (RL)-based high-level (HL) policies for real-time gait…

Unmanned Aerial Vehicles (UAVs) have become popular for use in plant phenotyping of field based crops, such as maize and sorghum, due to their ability to acquire high resolution data over field trials. Field experiments, which may comprise…

A pose-graph-based optimization technique is widely used to estimate robot poses using various sensor measurements from devices such as laser scanners and cameras. The global navigation satellite system (GNSS) has recently been used to…

Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…

Aerial drones have great potential to monitor large areas quickly and efficiently. Aquaculture is an industry that requires continuous water quality data to successfully grow and harvest fish. The Hybrid Aerial Underwater Robotic System…

Agricultural robots must navigate challenging dynamic and semi-structured environments. Recently, environmental modeling using LiDAR-based SLAM has shown promise in providing highly accurate geometry. However, how this chaotic environmental…

Localization, or position fixing, is an important problem in robotics research. In this paper, we propose a novel approach for long-term localization in a changing environment using 3D LiDAR. We first create the map of a real environment…