相关论文: Design, Localization, Perception, and Control for …

In this work, we present a pragmatic approach to enable unmanned aerial vehicle (UAVs) to autonomously perform highly complicated tasks of object pick and place. This paper is largely inspired by challenge-2 of MBZIRC 2020 and is primarily…

Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…

Grasping using an aerial robot can have many applications ranging from infrastructure inspection and maintenance to precise agriculture. However, aerial grasping is a challenging problem since the robot has to maintain an accurate position…

In a future with autonomous robots, visual and spatial perception is of utmost importance for robotic systems. Particularly for aerial robotics, there are many applications where utilizing visual perception is necessary for any real-world…

This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest…

In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…

There is a growing need for robotic apple harvesting due to decreasing availability and rising cost in labor. Towards the goal of developing a viable robotic system for apple harvesting, this paper presents synergistic mechatronic design…

In this research, a fully neural network based visual perception framework for autonomous apple harvesting is proposed. The proposed framework includes a multi-function neural network for fruit recognition and a Pointnet grasp estimation to…

Research in the field of autonomous Unmanned Aerial Vehicles (UAVs) has significantly advanced in recent years, mainly due to their relevance in a large variety of commercial, industrial, and military applications. However, UAV navigation…

Airborne (or flying) base stations (ABSs) embedded on drones or unmanned aerial vehicles (UAVs) can be deemed as a central element of envisioned 6G cellular networks where significant cell densification with mmWave/Terahertz communications…

This paper presents the design, development, and testing of hardware-software systems by the IISc-TCS team for Challenge 1 of the Mohammed Bin Zayed International Robotics Challenge 2020. The goal of Challenge 1 was to grab a ball suspended…

The agricultural sector is rapidly evolving to meet growing global food demands, yet tasks like fruit and vegetable handling remain labor-intensive, causing inefficiencies and post-harvest losses. Automation, particularly selective…

A robotic solution for the unmanned ground vehicles (UGVs) to execute the highly complex task of object manipulation in an autonomous mode is presented. This paper primarily focuses on developing an autonomous robotic system capable of…

Autonomous aerial delivery vehicles have gained significant interest in the last decade. This has been enabled by technological advancements in aerial manipulators and novel grippers with enhanced force to weight ratios. Furthermore,…

Robotic fruit harvesting holds potential in precision agriculture to improve harvesting efficiency. While ground mobile robots are mostly employed in fruit harvesting, certain crops, like avocado trees, cannot be harvested efficiently from…

In this paper, we present the design, simulation and experimental validation of a control architecture for a flying hand, i.e., a system made of an unmanned aerial vehicle, a robotic manipulator and a gripper, which is grasping an object…

Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potentials to transform passive sensing missions into active 3-dimension interactive missions, but they still suffer from some difficulties impeding their wide…

This paper addresses the problem of mobile grasping in dynamic, unknown environments where a robot must operate under a limited field-of-view. The fundamental challenge is the inherent trade-off between ``seeing'' around to reduce…

Reliable long-range flight of unmanned aerial vehicles (UAVs) in GNSS-denied environments is challenging: integrating odometry leads to drift, loop closures are unavailable in previously unseen areas and embedded platforms provide limited…

The Global Positioning System (GPS) has become a part of our daily life with the primary goal of providing geopositioning service. For an unmanned aerial system (UAS), geolocalization ability is an extremely important necessity which is…