相关论文: CropNav: a Framework for Autonomous Navigation in …

We present a micro aerial vehicle (MAV) system, built with inexpensive off-the-shelf hardware, for autonomously following trails in unstructured, outdoor environments such as forests. The system introduces a deep neural network (DNN) called…

Embodied navigation in underground mines faces significant challenges, including narrow passages, uneven terrain, near-total darkness, GPS-denied conditions, and limited communication infrastructure. While recent learning-based approaches…

Standalone Global Navigation Satellite Systems (GNSS) are known to provide positioning accuracy of a few meters in open sky conditions. This accuracy can drop significantly when the line-of-sight (LOS) paths to some GNSS satellites are…

Traditional field phenotyping methods are often manual, time-consuming, and destructive, posing a challenge for breeding progress. To address this bottleneck, robotics and automation technologies offer efficient sensing tools to monitor…

Autonomous robots are used as the tool to solve many kinds of problems, such as environmental mapping and monitoring. Either for adverse conditions related to the human presence or even for the need to reduce costs, it is certain that many…

Autonomous navigation in offroad environments has been extensively studied in the robotics field. However, navigation in covert situations where an autonomous vehicle needs to remain hidden from outside observers remains an underexplored…

Autonomous agriculture applications (e.g., inspection, phenotyping, plucking fruits) require manipulating the plant foliage to look behind the leaves and the branches. Partial visibility, extreme clutter, thin structures, and unknown…

Soil moisture sensing through biomass or vegetation canopy has challenged researchers, even those who use SAR sensors with penetration capabilities. This is mainly due to the imposed extra time and phase offsets on Radio Frequency (RF)…

Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we propose Wild Visual Navigation (WVN), an…

Visual navigation for robotics is inspired by the human ability to navigate environments using visual cues and memory, eliminating the need for detailed maps. In unseen, unmapped, or GPS-denied settings, traditional metric map-based methods…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

We present a multi-robot system for GPS-denied search and rescue under the forest canopy. Forests are particularly challenging environments for collaborative exploration and mapping, in large part due to the existence of severe perceptual…

An algorithm based on Artificial Neural Networks is proposed in this paper to improve the accuracy of Inertial Navigation System (INS)/ Global Navigation Satellite System (GNSS) integrated navigation during the absence of GNSS signals. The…

Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While…

One of the most challenging tasks for a flying robot is to autonomously navigate between target locations quickly and reliably while avoiding obstacles in its path, and with little to no a-priori knowledge of the operating environment. This…

Zero-shot object navigation is a challenging task for home-assistance robots. This task emphasizes visual grounding, commonsense inference and locomotion abilities, where the first two are inherent in foundation models. But for the…

We propose GANav, a novel group-wise attention mechanism to identify safe and navigable regions in off-road terrains and unstructured environments from RGB images. Our approach classifies terrains based on their navigability levels using…

In recent years, consumer-grade UAVs have been widely adopted by first responders. In general, they are operated manually, which requires trained pilots, especially in unknown GNSS-denied environments and in the vicinity of structures.…

Mobile ground robots require perceiving and understanding their surrounding support surface to move around autonomously and safely. The support surface is commonly estimated based on exteroceptive depth measurements, e.g., from LiDARs.…

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…