相关论文: Autonomous Forest Inventory with Legged Robots: Sy…
Real-time six degree-of-freedom pose estimation with ground vehicles represents a relevant and well studied topic in robotics, due to its many applications, such as autonomous driving and 3D mapping. Although some systems exist already,…
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…
Biped robots have plenty of benefits over wheeled, quadruped, or hexapod robots due to their ability to behave like human beings in tough and non-flat environments. Deformable terrain is another challenge for biped robots as it has to deal…
In the proposed study, we describe the possibility of automated dataset collection using an articulated robot. The proposed technology reduces the number of pixel errors on a polygonal dataset and the time spent on manual labeling of 2D…
The quality of the visual feedback can vary significantly on a legged robot that is meant to traverse unknown and unstructured terrains. The map of the environment, acquired with online state-of-the-art algorithms, often degrades after a…
Individual tree detection and crown delineation (ITDD) are critical in forest inventory management and remote sensing based forest surveys are largely carried out through satellite images. However, most of these surveys only use 2D spectral…
Prior work on plant species classification predominantly focuses on building models from isolated plant attributes. Hence, there is a need for tools that can assist in species identification in the natural world. We present a novel and…
High-speed legged navigation in discrete and geometrically complex environments is a challenging task because of the high-degree-of-freedom dynamics and long-horizon, nonconvex nature of the optimization problem. In this work, we propose a…
Autonomous exploration is a fundamental capability that tightly integrates perception, planning, control, and motion execution. It plays a critical role in a wide range of applications, including indoor target search, mapping of extreme…
For the deployment of legged robots in real-world environments, it is essential to develop robust locomotion control methods for challenging terrains that may exhibit unexpected deformability and irregularity. In this paper, we explore the…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
An increasing amount of companies and cities plan to become CO2-neutral, which requires them to invest in renewable energies and carbon emission offsetting solutions. One of the cheapest carbon offsetting solutions is preventing…
A fully automated technique for wood pith detection (APD), relying on the concentric shape of the structure of wood ring slices, is introduced. The method estimates the ring's local orientations using the 2D structure tensor and finds the…
Accurate quantification of forest coverage and combustible biomass (fuel load) is critical for wildfire risk assessment and ecosystem management. However, traditional methods relying on airborne LiDAR or field surveys are cost-prohibitive…
Containment-based trees encompass various handy structures such as B+-trees, R-trees and M-trees. They are widely used to build data indexes, range-queryable overlays, publish/subscribe systems both in centralized and distributed contexts.…
Greenhouse agriculture in the Mediterranean region faces significant automation challenges due to its unique structural and environmental constraints. These environments are characterized by extremely narrow aisles, heterogeneous terrains…
In this paper, we introduce a novel method for safe navigation in agricultural robotics. As global environmental challenges intensify, robotics offers a powerful solution to reduce chemical usage while meeting the increasing demands for…
The demand and the potential for automation in the construction sector is unmatched, particularly for increasing environmental sustainability, improving worker safety and reducing labor shortages. We have developed an autonomous walking…
The recent availability of commercial-off-the-shelf (COTS) legged robot platforms have opened up new opportunities in deploying legged systems into different scenarios. While the main advantage of legged robots is their ability to traverse…
In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages measurable variables. The distinct feature of our observer…