相关论文: Toward Precise Robotic Weed Flaming Using a Mobile…
Ultra-lean premixed hydrogen combustion is a possible solution to decarbonize industry, while limiting flame temperatures and thus nitrous oxide emissions. These lean hydrogen/air flames experience strong preferential diffusion effects,…
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…
Aerial manipulation requires force-aware capabilities to enable safe and effective grasping and physical interaction. Previous works often rely on heavy, expensive force sensors unsuitable for typical quadrotor platforms, or perform…
Recently, there has been a growing interest in rescue robots due to their vital role in addressing emergency scenarios and providing crucial support in challenging or hazardous situations where human intervention is difficult. However, very…
The land used for grazing cattle takes up about one-third of the land in the United States. These areas can be highly rugged. Yet, they need to be maintained to prevent weeds from taking over the nutritious grassland. This can be a daunting…
Early detection of forest fires is crucial to minimizing the environmental and socioeconomic damage they cause. Indeed, a fire's duration directly correlates with the difficulty and cost of extinguishing it. For instance, a fire burning for…
A seamless integration of robots into human environments requires robots to learn how to use existing human tools. Current approaches for learning tool manipulation skills mostly rely on expert demonstrations provided in the target robot…
Most of the automatic fire alarm systems detect the fire presence through sensors like thermal, smoke, or flame. One of the new approaches to the problem is the use of images to perform the detection. The image approach is promising since…
The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. Using mobile robots for gas detection has several advantages and can reduce danger for humans.…
Mobile manipulation constitutes a fundamental task for robotic assistants and garners significant attention within the robotics community. A critical challenge inherent in mobile manipulation is the effective observation of the target while…
This paper presents a novel autonomous drone-based smoke plume tracking system capable of navigating and tracking plumes in highly unsteady atmospheric conditions. The system integrates advanced hardware and software and a comprehensive…
Wildfires are a major producer of fine particulate matter, impacting human health and the electrical grid. Accurately forecasting smoke impacts over long time scales incorporates fuel treatment strategies, natural fuel succession, and…
We present a novel hybrid incompressible flow/material point method solver for simulating the combustion of flammable solids. Our approach utilizes a sparse grid representation of solid materials in the material point method portion of the…
Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed…
The problem of robotic lime picking is challenging; lime plants have dense foliage which makes it difficult for a robotic arm to grasp a lime without coming in contact with leaves. Existing approaches either do not consider leaves, or treat…
Flexible object manipulation of paper and cloth is a major research challenge in robot manipulation. Although there have been efforts to develop hardware that enables specific actions and to realize a single action of paper folding using…
In this paper we address mobile manipulation planning problems in the presence of sensing and environmental uncertainty. In particular, we consider mobile sensing manipulators operating in environments with unknown geometry and uncertain…
One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…
Weeds compete with crops for light, water, and nutrients, reducing yield and crop quality. Efficient weed detection is essential for site-specific weed management (SSWM). Although deep learning models have been deployed on UAV-based edge…
We present our general-purpose mobile manipulation system consisting of a custom robot platform and key algorithms spanning perception and planning. To extensively test the system in the wild and benchmark its performance, we choose a…