相关论文: Force Aware Branch Manipulation To Assist Agricult…
The paper presents an algorithm, called Self-Morphing Adaptive Replanning Tree (SMART), that facilitates fast replanning in dynamic environments. SMART performs risk based tree-pruning if the current path is obstructed by nearby moving…
In this work, we present a manipulation planning algorithm for a robot to keep an object stable under changing external forces. We particularly focus on the case where a human may be applying forceful operations, e.g. cutting or drilling,…
In previous research, we developed methods to train decision trees (DT) as agents for reinforcement learning tasks, based on deep reinforcement learning (DRL) networks. The samples from which the DTs are built, use the environment's state…
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…
Autonomous harvesting in the open presents a complex manipulation problem. In most scenarios, an autonomous system has to deal with significant occlusion and require interaction in the presence of large structural uncertainties (every plant…
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…
Socially-aware robotic navigation is essential in environments where humans and robots coexist, ensuring both safety and comfort. However, most existing approaches have been primarily developed for mobile robots, leaving a significant gap…
Robotic systems may frequently come across similar manipulation planning problems that result in similar motion plans. Instead of planning each problem from scratch, it is preferable to leverage previously computed motion plans, i.e.,…
Solving real-world manipulation tasks requires robots to have a repertoire of skills applicable to a wide range of circumstances. When using learning-based methods to acquire such skills, the key challenge is to obtain training data that…
Climate change, increase in world population and the war in Ukraine have led nations such as the UK to put a larger focus on food security, while simultaneously trying to halt declines in biodiversity and reduce risks to human health posed…
Robots are more capable of achieving manipulation tasks for everyday activities than before. But the safety of manipulation skills that robots employ is still an open problem. Considering all possible failures during skill learning…
Forestry machines are heavy vehicles performing complex manipulation tasks in unstructured production forest environments. Together with the complex dynamics of the on-board hydraulically actuated cranes, the rough forest terrains have…
In this work, we explore how conventional motion planning algorithms can be reapplied to contact-rich manipulation tasks. Rather than focusing solely on efficiency, we investigate how manipulation aspects can be recast in terms of…
High efficiency in precision farming depends on accurate tools to perform weed detection and mapping of crops. This allows for precise removal of harmful weeds with a lower amount of pesticides, as well as increase of the harvest's yield by…
Everting, soft growing vine robots benefit from reduced friction with their environment, which allows them to navigate challenging terrain. Vine robots can use air pouches attached to their sides for lateral steering. However, when all…
In this paper we propose an approach for efficient grasp selection for manipulation tasks of unknown objects. Even for simple tasks such as pick-and-place, a unique solution is rare to occur. Rather, multiple candidate grasps must be…
Book chapter that summarizes recent research on agricultural robotics in orchard management, including Robotic pruning, Robotic thinning, Robotic spraying, Robotic harvesting, Robotic fruit transportation, and future trends.
Innovative ideas are continuously emerging to produce better life conditions where essential human needs are supposed to be fulfilled with perfect scenarios leading us to propose modern strategies drawing the future of smart cities. In this…
Protecting and restoring forest ecosystems has become an important conservation issue. Although various robots have been used for field data collection to protect forest ecosystems, the complex terrain and dense canopy make the data…
This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which…