相关论文: MoistureMapper: An Autonomous Mobile Robot for Hig…
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites. The approach leverages multi-modal sensing…
Terrain geometry is, in general, non-smooth, non-linear, non-convex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy. This work presents the complete control pipeline capable of handling the…
The paper introduces a novel approach for estimating soil moisture in vegetated surfaces, specifically focusing on sugarcane crops throughout various growth stages in agriculture applications. While existing models typically address bare…
This paper presents a novel approach to modeling curiosity in a mobile robot, which is useful for monitoring and adaptive data collection tasks, especially in the context of long term autonomous missions where pre-programmed missions are…
Vectorized high-definition (HD) map is essential for autonomous driving, providing detailed and precise environmental information for advanced perception and planning. However, current map vectorization methods often exhibit deviations, and…
Sensor simulation has emerged as a promising and powerful technique to find solutions to many real-world robotic tasks like localization and pose tracking.However, commonly used simulators have high hardware requirements and are therefore…
Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…
The multi-robot adaptive sampling problem aims at finding trajectories for a team of robots to efficiently sample the phenomenon of interest within a given endurance budget of the robots. In this paper, we propose a robust and scalable…
Terrain classification is an important problem for mobile robots operating in extreme environments as it can aid downstream tasks such as autonomous navigation and planning. While RGB cameras are widely used for terrain identification,…
A renaissance in radar-based sensing for mobile robotic applications is underway. Compared to cameras or lidars, millimetre-wave radars have the ability to `see' through thin walls, vegetation, and adversarial weather conditions such as…
In paddy field, monitoring soil moisture is required for irrigation scheduling and water resource allocation, management and planning. The current study proposes an Artificial Neural Networks (ANN) model to estimate soil moisture in paddy…
Recent advances in automated vehicles have focused on improving perception performance under adverse weather conditions; however, research on physical hardware solutions remains limited, despite their importance for perception critical…
In many applications, maintaining a consistent dense map of the environment is key to enabling robotic platforms to perform higher level decision making. Several works have addressed the challenge of creating precise dense 3D maps from…
Today, even the most compute-and-power constrained robots can measure complex, high data-rate video and LIDAR sensory streams. Often, such robots, ranging from low-power drones to space and subterranean rovers, need to transmit high-bitrate…
This paper introduces a state-machine model for a multi-modal, multi-robot environmental sensing algorithm tailored to dynamic real-world settings. The algorithm uniquely combines two exploration strategies for gas source localization and…
Estimating terrain traversability in off-road environments requires reasoning about complex interaction dynamics between the robot and these terrains. However, it is challenging to create informative labels to learn a model in a supervised…
Ensuring safety levels on roads is an imperative task for road authorities. Significant amounts of time and money are spent on performing road inspections every year. In order to ensure efficiency of road inventories, road practitioners are…
Inversion methodology has been used to obtain, from multi-layer soil probes records, a complete soil parametrisation, namely water retention curve, unsaturated conductivity curve and bulk density at 4 depths. The approach integrates water…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…