相关论文: Autonomous Forest Inventory with Legged Robots: Sy…

Segmentation-based autonomous navigation has recently been proposed as a promising methodology to guide robotic platforms through crop rows without requiring precise GPS localization. However, existing methods are limited to scenarios where…

This paper presents a comprehensive overview of exploration strategies utilized in both 2D and 3D environments, focusing on autonomous multi-robot systems designed for building exploration and fire detection. We explore the limitations of…

Legged robots pose one of the greatest challenges in robotics. Dynamic and agile maneuvers of animals cannot be imitated by existing methods that are crafted by humans. A compelling alternative is reinforcement learning, which requires…

Quantification of forest biomass stocks and their dynamics is important for implementing effective climate change mitigation measures. The knowledge is needed, e.g., for local forest management, studying the processes driving af-, re-, and…

Volcanic gas emissions are key precursors of eruptive activity. Yet, obtaining accurate near-surface measurements remains hazardous and logistically challenging, motivating the need for autonomous solutions. Limited mobility in rough…

Legged robots have demonstrated remarkable agility on rigid, stationary ground, but their locomotion reliability remains limited in non-inertial environments, where the supporting ground moves, tilts, or accelerates. Such conditions arise…

Legged robots are well-suited for navigating terrains inaccessible to wheeled robots, making them ideal for applications in search and rescue or space exploration. However, current control methods often struggle to generalize across…

The analysis of the multi-layer structure of wild forests is an important challenge of automated large-scale forestry. While modern aerial LiDARs offer geometric information across all vegetation layers, most datasets and methods focus only…

Semantic maps represent the environment using a set of semantically meaningful objects. This representation is storage-efficient, less ambiguous, and more informative, thus facilitating large-scale autonomy and the acquisition of actionable…

The ability to map challenging subarctic environments opens new horizons for robotic deployments in industries such as forestry, surveillance, and open-pit mining. In this paper, we explore possibilities of large-scale lidar mapping in a…

Vision-based segmentation in forested environments is a key functionality for autonomous forestry operations such as tree felling and forwarding. Deep learning algorithms demonstrate promising results to perform visual tasks such as object…

Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…

This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…

This paper introduces a novel proprioceptive state estimator for legged robots based on a learned displacement measurement from IMU data. Recent research in pedestrian tracking has shown that motion can be inferred from inertial data using…

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…

In this paper, we present an integrated solution to memory-efficient environment modeling by an autonomous mobile robot equipped with a laser range-finder. Majority of nowadays approaches to autonomous environment modeling, called…

Terrain-aware locomotion has become an emerging topic in legged robotics. However, it is hard to generate diverse, challenging, and realistic unstructured terrains in simulation, which limits the way researchers evaluate their locomotion…

Planning for legged-wheeled machines is typically done using trajectory optimization because of many degrees of freedom, thus rendering legged-wheeled planners prone to falling prey to bad local minima. We present a combined sampling and…

This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in [1] on a quadruped platform by…

In this paper we present an overview of the methods and systems that give rise to a flying robotic system capable of autonomous inspection, surveying, comprehensive multi-modal mapping and inventory tracking of construction sites with high…