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  • ARDEA—An MAV with skills for future planetary missions
    J. Field Robot. (IF 4.345) Pub Date : 2020-03-12
    Philipp Lutz; Marcus G. Müller; Moritz Maier; Samantha Stoneman; Teodor Tomić; Ingo von Bargen; Martin J. Schuster; Florian Steidle; Armin Wedler; Wolfgang Stürzl; Rudolph Triebel

    We introduce a prototype flying platform for planetary exploration: autonomous robot design for extraterrestrial applications (ARDEA). Communication with unmanned missions beyond Earth orbit suffers from time delay, thus a key criterion for robotic exploration is a robot's ability to perform tasks without human intervention. For autonomous operation, all computations should be done on‐board and Global

    更新日期:2020-03-16
  • SLAM for autonomous planetary rovers with global localization
    J. Field Robot. (IF 4.345) Pub Date : 2020-02-28
    Dimitrios Geromichalos; Martin Azkarate; Emmanouil Tsardoulias; Levin Gerdes; Loukas Petrou; Carlos Perez Del Pulgar

    This paper describes a novel approach to simultaneous localization and mapping (SLAM) techniques applied to the autonomous planetary rover exploration scenario to reduce both the relative and absolute localization errors, using two well‐proven techniques: particle filters and scan matching. Continuous relative localization is improved by matching high‐resolution sensor scans to the online created local

    更新日期:2020-03-02
  • A 3D reactive collision avoidance algorithm for underactuated underwater vehicles
    J. Field Robot. (IF 4.345) Pub Date : 2020-02-28
    Martin S. Wiig; Kristin Y. Pettersen; Thomas R. Krogstad

    Avoiding collisions is an essential goal of the control system of autonomous vehicles. This paper presents a reactive algorithm for avoiding obstacles in a three‐dimensional space, and shows how the algorithm can be applied to an underactuated underwater vehicle. The algorithm is based on maintaining a constant avoidance angle to the obstacle, which ensures that a guaranteed minimum separation distance

    更新日期:2020-02-28
  • Field observation of tornadic supercells by multiple autonomous fixed‐wing unmanned aircraft
    J. Field Robot. (IF 4.345) Pub Date : 2020-02-26
    Eric W. Frew; Brian Argrow; Steve Borenstein; Sara Swenson; C. Alexander Hirst; Henno Havenga; Adam Houston

    This paper presents the results of the design and field deployment of multiple autonomous fixed‐wing unmanned aircraft into supercell thunderstorms. As part of a field campaign in Spring 2019, up to three fixed‐wing unmanned aircraft were deployed simultaneously into different regions of supercell thunderstorms, To learn more about the atmospheric conditions that lead to the formation of tornadoes

    更新日期:2020-02-27
  • Autonomous aerial robot using dual‐fisheye cameras
    J. Field Robot. (IF 4.345) Pub Date : 2020-02-25
    Wenliang Gao; Kaixuan Wang; Wenchao Ding; Fei Gao; Tong Qin; Shaojie Shen

    Safety is undoubtedly the most fundamental requirement for any aerial robotic application. It is essential to equip aerial robots with omnidirectional perception coverage to ensure safe navigation in complex environments. In this paper, we present a light‐weight and low‐cost omnidirectional perception system, which consists of two ultrawide field‐of‐view (FOV) fisheye cameras and a low‐cost inertial

    更新日期:2020-02-26
  • High‐accuracy absolute positioning for the stationary planetary rover by integrating the star sensor and inclinometer
    J. Field Robot. (IF 4.345) Pub Date : 2020-02-18
    Yinhu Zhan; Yong Zheng; Chonghui Li; Ruopu Wang; Yongxing Zhu; Zhanglei Chen

    In this paper, we introduce a novel method for the high‐accuracy absolute position determination for planetary rovers using the star sensor and inclinometer. We describe the star sensor and inclinometer model and the alignment method for the two sensors. We deduce the compensation algorithm for the atmosphere refraction correction error in detail and provide the rover's position solution, which effectively

    更新日期:2020-02-19
  • Field trials of an energy‐aware mission planner implemented on an autonomous surface vehicle
    J. Field Robot. (IF 4.345) Pub Date : 2020-02-11
    Fletcher Thompson; Roberto Galeazzi; Damien Guihen

    Mission planning for autonomous marine vehicles is nontrivial due to the dynamic and uncertain nature of the marine environment. Communication can be low‐bandwidth and is not always guaranteed, so the operator must rely on the vehicles to adjust their plans according to the realized state of the environment. This paper presents the improvements made to an energy‐aware mission planner that allows it

    更新日期:2020-02-12
  • Multirepresentation, Multiheuristic A* search‐based motion planning for a free‐floating underwater vehicle‐manipulator system in unknown environment
    J. Field Robot. (IF 4.345) Pub Date : 2020-02-09
    Dina Youakim; Patryk Cieslak; Andrew Dornbush; Albert Palomer; Pere Ridao; Maxim Likhachev

    A key challenge in autonomous mobile manipulation is the ability to determine, in real time, how to safely execute complex tasks when placed in unknown or changing world. Addressing this issue for Intervention Autonomous Underwater Vehicles (I‐AUVs), operating in potentially unstructured environment is becoming essential. Our research focuses on using motion planning to increase the I‐AUVs autonomy

    更新日期:2020-02-10
  • Design and testing of the JPL‐Nautilus Gripper for deep‐ocean geological sampling
    J. Field Robot. (IF 4.345) Pub Date : 2020-02-09
    Spencer B. Backus; Rina Onishi; Andrew Bocklund; Andrew Berg; Eric D. Contreras; Aaron Parness

    We present the design and experimental results for the JPL‐Nautilus Gripper, a 16‐finger highly underactuated microspine gripper for use in the deep ocean. The gripper can grasp objects from 10 to 30 cm in size and anchor to flat and curved rocky surfaces (i.e., cliff faces and seamounts). Laboratory results demonstrated an anchoring capability of greater than 450 N on rough rocks in both shear and

    更新日期:2020-02-10
  • Robotic weed control using automated weed and crop classification
    J. Field Robot. (IF 4.345) Pub Date : 2020-02-06
    Xiaolong Wu; Stéphanie Aravecchia; Philipp Lottes; Cyrill Stachniss; Cédric Pradalier

    Autonomous robotic weeding systems in precision farming have demonstrated their full potential to alleviate the current dependency on agrochemicals such as herbicides and pesticides, thus reducing environmental pollution and improving sustainability. However, most previous works require fast and constant‐time weed detection systems to achieve real‐time treatment, which forecloses the implementation

    更新日期:2020-02-07
  • Development of a sweet pepper harvesting robot
    J. Field Robot. (IF 4.345) Pub Date : 2020-01-27
    Boaz Arad; Jos Balendonck; Ruud Barth; Ohad Ben‐Shahar; Yael Edan; Thomas Hellström; Jochen Hemming; Polina Kurtser; Ola Ringdahl; Toon Tielen; Bart van Tuijl

    This paper presents the development, testing and validation of SWEEPER, a robot for harvesting sweet pepper fruit in greenhouses. The robotic system includes a six degrees of freedom industrial arm equipped with a specially designed end effector, RGB‐D camera, high‐end computer with graphics processing unit, programmable logic controllers, other electronic equipment, and a small container to store

    更新日期:2020-01-30
  • Two‐stage 3D model‐based UAV pose estimation: A comparison of methods for optimization
    J. Field Robot. (IF 4.345) Pub Date : 2020-01-23
    Nuno Pessanha Santos; Victor Lobo; Alexandre Bernardino

    Particle Filters (PFs) have been successfully used in three‐dimensional (3D) model‐based pose estimation. Typically, these filters depend on the computation of importance weights that use similarity metrics as a proxy to approximate the likelihood function. In this paper, we explore the use of a two‐stage 3D model‐based approach based on a PF for single‐frame pose estimation. First, we use a classifier

    更新日期:2020-01-24
  • Autonomous collision detection and avoidance for ARAGON USV: Development and field tests
    J. Field Robot. (IF 4.345) Pub Date : 2020-01-21
    Jungwook Han; Yonghoon Cho; Jonghwi Kim; Jinwhan Kim; Nam‐sun Son; Sun Young Kim

    This study addresses the development of algorithms for multiple target detection and tracking in the framework of sensor fusion and its application to autonomous navigation and collision avoidance systems for the unmanned surface vehicle (USV) Aragon. To provide autonomous navigation capabilities, various perception sensors such as radar, lidar, and cameras have been mounted on the USV platform and

    更新日期:2020-01-22
  • Multimodal localization: Stereo over LiDAR map
    J. Field Robot. (IF 4.345) Pub Date : 2020-01-21
    Xingxing Zuo; Wenlong Ye; Yulin Yang; Renjie Zheng; Teresa Vidal‐Calleja; Guoquan Huang; Yong Liu

    In this paper, we present a real‐time high‐precision visual localization system for an autonomous vehicle which employs only low‐cost stereo cameras to localize the vehicle with a priori map built using a more expensive 3D LiDAR sensor. To this end, we construct two different visual maps: a sparse feature visual map for visual odometry (VO) based motion tracking, and a semidense visual map for registration

    更新日期:2020-01-22
  • Autonomous aerial cinematography in unstructured environments with learned artistic decision‐making
    J. Field Robot. (IF 4.345) Pub Date : 2020-01-06
    Rogerio Bonatti; Wenshan Wang; Cherie Ho; Aayush Ahuja; Mirko Gschwindt; Efe Camci; Erdal Kayacan; Sanjiban Choudhury; Sebastian Scherer

    Aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely piloting a drone while filming a moving target in the presence of obstacles is immensely taxing, often requiring multiple expert human operators. Hence, there is a demand for an autonomous cinematographer that can reason about both geometry

    更新日期:2020-01-07
  • Keyframe‐based thermal–inertial odometry
    J. Field Robot. (IF 4.345) Pub Date : 2019-12-30
    Shehryar Khattak; Christos Papachristos; Kostas Alexis

    Autonomous navigation of microaerial vehicles in environments that are simultaneously GPS‐denied and visually degraded, and especially in the dark, texture‐less and dust‐ or smoke‐filled settings, is rendered particularly hard. However, a potential solution arises if such aerial robots are equipped with long wave infrared thermal vision systems that are unaffected by darkness and can penetrate many

    更新日期:2019-12-31
  • GPS‐level accurate camera localization with HorizonNet
    J. Field Robot. (IF 4.345) Pub Date : 2019-12-23
    Bertil Grelsson; Andreas Robinson; Michael Felsberg; Fahad Shahbaz Khan

    This paper investigates the problem of position estimation of unmanned surface vessels (USVs) operating in coastal areas or in the archipelago. We propose a position estimation method where the horizon line is extracted in a 360° panoramic image around the USV. We design a convolutional neural network (CNN) architecture to determine an approximate horizon line in the image and implicitly determine

    更新日期:2019-12-25
  • Decomposition‐based mission planning for fixed‐wing UAVs surveying in wind
    J. Field Robot. (IF 4.345) Pub Date : 2019-12-16
    Matthew Coombes; Tom Fletcher; Wen‐Hua Chen; Cunjia Liu

    This paper presents a new method for planning fixed‐wing aerial survey paths that ensures efficient image coverage of a large complex agricultural field in the presence of wind. By decomposing any complex polygonal field into multiple convex polygons, the traditional back‐and‐forth boustrophedon paths can be used to ensure coverage of these decomposed regions. To decompose a complex field in an efficient

    更新日期:2019-12-18
  • Off‐road ground robot path energy cost prediction through probabilistic spatial mapping
    J. Field Robot. (IF 4.345) Pub Date : 2019-12-15
    Michael Quann; Lauro Ojeda; William Smith; Denise Rizzo; Matthew Castanier; Kira Barton

    Energy is an important factor in planning for ground robots, particularly in off‐road environments where the terrain significantly impacts energy usage. Unfortunately, energy costs in these environments are variable and uncertain, making planning difficult. In this paper, we present a method, based on Gaussian process regression (GPR) and known vehicle modeling information, for predicting future path

    更新日期:2019-12-17
  • Perception‐aware autonomous mast motion planning for planetary exploration rovers
    J. Field Robot. (IF 4.345) Pub Date : 2019-12-02
    Jared Strader, Kyohei Otsu, Ali‐akbar Agha‐mohammadi

    Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation

    更新日期:2019-12-03
  • Automated crop plant detection based on the fusion of color and depth images for robotic weed control
    J. Field Robot. (IF 4.345) Pub Date : 2019-07-23
    Jingyao Gai, Lie Tang, Brian L. Steward

    Robotic weeding enables weed control near or within crop rows automatically, precisely and effectively. A computer‐vision system was developed for detecting crop plants at different growth stages for robotic weed control. Fusion of color images and depth images was investigated as a means of enhancing the detection accuracy of crop plants under conditions of high weed population. In‐field images of

    更新日期:2019-11-18
  • Remote mobile manipulation with the centauro robot: Full‐body telepresence and autonomous operator assistance
    J. Field Robot. (IF 4.345) Pub Date : 2019-07-21
    Tobias Klamt, Max Schwarz, Christian Lenz, Lorenzo Baccelliere, Domenico Buongiorno, Torben Cichon, Antonio DiGuardo, David Droeschel, Massimiliano Gabardi, Malgorzata Kamedula, Navvab Kashiri, Arturo Laurenzi, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul S. Periyasamy, Diego Rodriguez, Massimiliano Solazzi, Antonio Frisoli, Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis

    Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigating a wide variety of terrains, dexterous manipulation

    更新日期:2019-11-18
  • Improvements to and large‐scale evaluation of a robotic kiwifruit harvester
    J. Field Robot. (IF 4.345) Pub Date : 2019-07-16
    Henry Williams, Canaan Ting, Mahla Nejati, Mark Hedley Jones, Nicky Penhall, JongYoon Lim, Matthew Seabright, Jamie Bell, Ho Seok Ahn, Alistair Scarfe, Mike Duke, Bruce MacDonald

    The growing popularity of kiwifruit orchards in New Zealand is increasing the already high demand for seasonal labourers. A novel robotic kiwifruit harvester has been designed and built to help meet this demand [H. A. Williams et al. Biosystems Eng. 181 (2019), pp. 140–156]. Early evaluations of the platform have shown good results with the system capable of harvesting 51.0% of 1,456 kiwifruit in four

    更新日期:2019-11-18
  • A high‐resolution, multimodal data set for agricultural robotics: A Ladybird's‐eye view of Brassica
    J. Field Robot. (IF 4.345) Pub Date : 2019-07-11
    Asher Bender, Brett Whelan, Salah Sukkarieh

    This article presents an agricultural data set collected by Ladybird, an autonomous field robot designed at the Australian Centre for Field Robotics. The data set contains weekly scans of cauliflower and broccoli (Brassica oleracea) covering a 10 week growth cycle from transplant to harvest. The data set includes ground truth; physical characteristics of the crop; environmental data collected by a

    更新日期:2019-11-18
  • Fast approximate clearance evaluation for rovers with articulated suspension systems
    J. Field Robot. (IF 4.345) Pub Date : 2019-07-09
    Kyohei Otsu, Guillaume Matheron, Sourish Ghosh, Olivier Toupet, Masahiro Ono

    We present a light‐weight body‐terrain clearance evaluation algorithm for the automated path planning of NASA's Mars 2020 rover. Extraterrestrial path planning is challenging due to the combination of terrain roughness and severe limitation in computational resources. Path planning on cluttered and/or uneven terrains requires repeated safety checks on all the candidate paths at a small interval. Predicting

    更新日期:2019-11-18
  • A field‐tested robotic harvesting system for iceberg lettuce
    J. Field Robot. (IF 4.345) Pub Date : 2019-07-07
    Simon Birrell, Josie Hughes, Julia Y. Cai, Fumiya Iida

    Agriculture provides an unique opportunity for the development of robotic systems; robots must be developed which can operate in harsh conditions and in highly uncertain and unknown environments. One particular challenge is performing manipulation for autonomous robotic harvesting. This paper describes recent and current work to automate the harvesting of iceberg lettuce. Unlike many other produce

    更新日期:2019-11-18
  • A low‐cost and efficient autonomous row‐following robot for food production in polytunnels
    J. Field Robot. (IF 4.345) Pub Date : 2019-06-18
    Tuan D. Le, Vignesh R. Ponnambalam, Jon G. O. Gjevestad, Pål J. From

    In this paper, we present an automatic motion planner for agricultural robots that allows us to set up a robot to follow rows without having to explicitly enter waypoints. In most cases, when robots are used to cover large agricultural areas, they will need waypoints as inputs, either as premeasured coordinates in an outdoor environment, or as positions in a map in an indoor environment. This can be

    更新日期:2019-11-18
  • Semantic mapping for orchard environments by merging two‐sides reconstructions of tree rows
    J. Field Robot. (IF 4.345) Pub Date : 2019-06-17
    Wenbo Dong, Pravakar Roy, Volkan Isler

    Measuring semantic traits for phenotyping is an essential but labor‐intensive activity in horticulture. Researchers often rely on manual measurements which may not be accurate for tasks, such as measuring tree volume. To improve the accuracy of such measurements and to automate the process, we consider the problem of building coherent three‐dimensional (3D) reconstructions of orchard rows. Even though

    更新日期:2019-11-18
  • Transfer learning between crop types for semantic segmentation of crops versus weeds in precision agriculture
    J. Field Robot. (IF 4.345) Pub Date : 2019-03-28
    Petra Bosilj, Erchan Aptoula, Tom Duckett, Grzegorz Cielniak

    Agricultural robots rely on semantic segmentation for distinguishing between crops and weeds to perform selective treatments and increase yield and crop health while reducing the amount of chemicals used. Deep‐learning approaches have recently achieved both excellent classification performance and real‐time execution. However, these techniques also rely on a large amount of training data, requiring

    更新日期:2019-11-18
  • Multimodal obstacle detection in unstructured environments with conditional random fields
    J. Field Robot. (IF 4.345) Pub Date : 2019-03-07
    Mikkel Kragh, James Underwood

    Reliable obstacle detection and classification in rough and unstructured terrain such as agricultural fields or orchards remains a challenging problem. These environments involve large variations in both geometry and appearance, challenging perception systems that rely on only a single sensor modality. Geometrically, tall grass, fallen leaves, or terrain roughness can mistakenly be perceived as nontraversable

    更新日期:2019-11-18
  • Autonomous pollination of individual kiwifruit flowers: Toward a robotic kiwifruit pollinator
    J. Field Robot. (IF 4.345) Pub Date : 2019-01-29
    Henry Williams, Mahla Nejati, Salome Hussein, Nicky Penhall, Jong Yoon Lim, Mark Hedley Jones, Jamie Bell, Ho Seok Ahn, Stuart Bradley, Peter Schaare, Paul Martinsen, Mohammad Alomar, Purak Patel, Matthew Seabright, Mike Duke, Alistair Scarfe, Bruce MacDonald

    There is an increasing concern that the traditional approach of natural kiwifruit pollination by bees may not be sustainable. The alternatives are currently too costly for most growers due to high labor requirements or inefficient usage of expensive pollen. This paper presents a performance evaluation of a novel kiwifruit pollinating robot designed to provide a more efficient, reliable, and cost‐effective

    更新日期:2019-11-18
  • A survey of deep learning techniques for autonomous driving
    J. Field Robot. (IF 4.345) Pub Date : 2019-11-14
    Sorin Grigorescu, Bogdan Trasnea, Tiberiu Cocias, Gigel Macesanu

    The last decade witnessed increasingly rapid progress in self‐driving vehicle technology, mainly backed up by advances in the area of deep learning and artificial intelligence (AI). The objective of this paper is to survey the current state‐of‐the‐art on deep learning technologies used in autonomous driving. We start by presenting AI‐based self‐driving architectures, convolutional and recurrent neural

    更新日期:2019-11-14
  • Autonomous maritime collision avoidance: Field verification of autonomous surface vehicle behavior in challenging scenarios
    J. Field Robot. (IF 4.345) Pub Date : 2019-11-11
    D. K. M. Kufoalor, T. A. Johansen, E. F. Brekke, A. Hepsø, K. Trnka

    We present results from sea trials for an autonomous surface vehicle (ASV) equipped with a collision avoidance system based on model predictive control (MPC). The sea trials were performed in the North Sea as part of an ASV Challenge posed by Deltares through a Dutch initiative involving different authorities, including the Ministry of Infrastructure and Water Management, the Netherlands Coastguard

    更新日期:2019-11-13
  • Development and applications of rescue robots for explosion accidents in coal mines
    J. Field Robot. (IF 4.345) Pub Date : 2019-11-06
    Yutan Li, Menggang Li, Hua Zhu, Eryi Hu, Chaoquan Tang, Peng Li, Shaoze You

    It is essential to provide disaster relief assistance after coal mine explosions. Often, it is life‐threatening for rescuers to enter an accident scene blindly; therefore, a coal mine rescue robot (CMRR) has been developed. However, the application of the CMRR has not proven satisfactory after decades of development. To solve this problem, we summarize the reasons for this disappointing state and address

    更新日期:2019-11-07
  • Smartphone‐based object recognition with embedded machine learning intelligence for unmanned aerial vehicles
    J. Field Robot. (IF 4.345) Pub Date : 2019-11-06
    Ignacio Martinez‐Alpiste, Pablo Casaseca‐de‐la‐Higuera, Jose M. Alcaraz‐Calero, Christos Grecos, Qi Wang

    Existing artificial intelligence solutions typically operate in powerful platforms with high computational resources availability. However, a growing number of emerging use cases such as those based on unmanned aerial systems (UAS) require new solutions with embedded artificial intelligence on a highly mobile platform. This paper proposes an innovative UAS that explores machine learning (ML) capabilities

    更新日期:2019-11-06
  • Coverage trajectory planning for a bush trimming robot arm
    J. Field Robot. (IF 4.345) Pub Date : 2019-11-05
    Dejan Kaljaca, Bastiaan Vroegindeweij, Eldert van Henten

    A novel motion planning algorithm for robotic bush trimming is presented. The algorithm is based on an optimal route search over a graph. Differently from other works in robotic surface coverage, it entails both accuracy in the surface sweeping task and smoothness in the motion of the robot arm. The proposed method requires the selection of a custom objective function in the joint space for optimal

    更新日期:2019-11-06
  • A path planning and path‐following control framework for a general 2‐trailer with a car‐like tractor
    J. Field Robot. (IF 4.345) Pub Date : 2019-10-25
    Oskar Ljungqvist, Niclas Evestedt, Daniel Axehill, Marcello Cirillo, Henrik Pettersson

    Maneuvering a general 2‐trailer with a car‐like tractor in backward motion is a task that requires a significant skill to master and is unarguably one of the most complicated tasks a truck driver has to perform. This paper presents a path planning and path‐following control solution that can be used to automatically plan and execute difficult parking and obstacle avoidance maneuvers by combining backward

    更新日期:2019-10-25
  • Sampling‐based hierarchical motion planning for a reconfigurable wheel‐on‐leg planetary analogue exploration rover
    J. Field Robot. (IF 4.345) Pub Date : 2019-10-22
    William Reid, Robert Fitch, Ali H. Göktoğan, Salah Sukkarieh

    Reconfigurable mobile planetary rovers are versatile platforms that may safely traverse cluttered environments by morphing their physical geometry. Planning paths for these adaptive robots is challenging due to their many degrees of freedom, and the need to consider potentially continuous platform reconfiguration along the length of the path. We propose a novel hierarchical structure for asymptotically

    更新日期:2019-10-23
  • Method of operating a GIS‐based autopilot drone to inspect ultrahigh voltage power lines and its field tests
    J. Field Robot. (IF 4.345) Pub Date : 2019-10-15
    Joon‐Young Park, Seok‐Tae Kim, Jae‐Kyung Lee, Ji‐Wan Ham, Ki‐Yong Oh

    The drone‐based inspection process on power transmission lines needs to be automated due to the large scale of power facilities and the limited line of sight available to drone pilots. Through the task environment analysis, however, it was found that the steel tower structure and energized AC power conductors may cause GPS signal distortion and magnetic interference with a drone's geomagnetic sensor

    更新日期:2019-10-16
  • CoralSeg: Learning coral segmentation from sparse annotations
    J. Field Robot. (IF 4.345) Pub Date : 2019-10-10
    Iñigo Alonso, Matan Yuval, Gal Eyal, Tali Treibitz, Ana C. Murillo

    Robotic advances and developments in sensors and acquisition systems facilitate the collection of survey data in remote and challenging scenarios. Semantic segmentation, which attempts to provide per‐pixel semantic labels, is an essential task when processing such data. Recent advances in deep learning approaches have boosted this task's performance. Unfortunately, these methods need large amounts

    更新日期:2019-10-12
  • High‐speed mobility on planetary surfaces: A technical review
    J. Field Robot. (IF 4.345) Pub Date : 2019-10-03
    David Rodríguez‐Martínez, Michel Van Winnendael, Kazuya Yoshida

    Despite the success so far accomplished in the robotic exploration of the Moon and Mars, the constraints associated with newly proposed mission concepts manifest the need for a faster surface prospection. Increasing driving velocities is being considered as a potential solution to the requirements introduced by these missions. This review presents the benefits and foreseeable challenges of using faster

    更新日期:2019-10-10
  • Experimental analysis of low‐altitude terrain following for hover‐capable flight‐style autonomous underwater vehicles
    J. Field Robot. (IF 4.345) Pub Date : 2019-09-30
    Sophia M. Schillai, Stephen R. Turnock, Eric Rogers, Alexander B. Phillips

    Operating an autonomous underwater vehicle (AUV) in close proximity to terrain typically relies solely on the vehicle sensors for terrain detection, and challenges the manoeuvrability of energy efficient flight‐style AUVs. This paper gives new results on altitude tracking limits of such vehicles by using the fully understood environment of a lake to perform repeated experiments while varying the altitude

    更新日期:2019-10-01
  • The evolution of the curiosity rover sampling chain
    J. Field Robot. (IF 4.345) Pub Date : 2019-09-29
    Vandi Verma, Joseph Carsten, Stephen Kuhn

    The Mars Science Laboratory (MSL) Curiosity rover landed in Gale crater in August of 2012 on its mission to explore Mt. Sharp as the first planetary rover to collect and analyze rock and regolith samples. On this new mission, sampling operations were conceived to be executed serially and in situ, on a “sample chain” along which sample would be collected, then processed, then delivered to sample analysis

    更新日期:2019-09-30
  • Kriging‐based robotic exploration for soil moisture mapping using a cosmic‐ray sensor
    J. Field Robot. (IF 4.345) Pub Date : 2019-09-29
    Jaime Pulido Fentanes, Amir Badiee, Tom Duckett, Jonathan Evans, Simon Pearson, Grzegorz Cielniak

    Soil moisture monitoring is a fundamental process to enhance agricultural outcomes and to protect the environment. The traditional methods for measuring moisture content in the soil are laborious and expensive, and therefore there is a growing interest in developing sensors and technologies which can reduce the effort and costs. In this work, we propose to use an autonomous mobile robot equipped with

    更新日期:2019-09-30
  • Cooperative digital magnetic‐elevation maps by small autonomous aerial robots
    J. Field Robot. (IF 4.345) Pub Date : 2019-09-25
    Héctor Azpúrua, Guilherme A. Potje, Paulo A. F. Rezeck, Gustavo M. Freitas, Luis G. Uzeda Garcia, Erickson R. Nascimento, Douglas G. Macharet, Mario F. M. Campos

    One of the steps to provide fundamental data for planning a mining effort is the magnetic surveying of a target area, which is typically carried out by conventional aircraft campaigns. However, besides the high cost, fixed‐wing aerial vehicles present shortcomings especially for drape flights on mountainous regions, where steep slopes are often present. Traditional human‐crewed flights have to perform

    更新日期:2019-09-26
  • Development of dam inspection robot with negative pressure effect plate
    J. Field Robot. (IF 4.345) Pub Date : 2019-09-25
    Norimitsu Sakagami, Yosuke Yumoto, Takahiro Takebayashi, Sadao Kawamura

    This paper describes the development of an underwater robot that performs visual inspection while making mechanical contact with a dam surface by a pulling force generated from thrusters with negative pressure effect plates. In general, small and lightweight remotely operated vehicles (ROVs) have low‐power thrusters. Their positioning performance is inferior with respect to external disturbances. Moreover

    更新日期:2019-09-26
  • Inspection of an underwater structure using point‐cloud SLAM with an AUV and a laser scanner
    J. Field Robot. (IF 4.345) Pub Date : 2019-09-11
    Albert Palomer, Pere Ridao, David Ribas

    This paper presents experimental results using a newly developed 3D underwater laser scanner mounted on an autonomous underwater vehicle (AUV) for real‐time simultaneous localization and mapping (SLAM). The algorithm consists of registering point clouds using a dual step procedure. First, a feature‐based coarse alignment is performed, which is then refined using iterative closest point. The robot position

    更新日期:2019-09-12
  • High performance and safe flight of full‐scale helicopters from takeoff to landing with an ensemble of planners
    J. Field Robot. (IF 4.345) Pub Date : 2019-09-05
    Sanjiban Choudhury, Vishal Dugar, Silvio Maeta, Brian MacAllister, Sankalp Arora, Daniel Althoff, Sebastian Scherer

    Autonomous flight of unmanned full‐size rotor‐craft has the potential to enable many new applications. However, the dynamics of these aircraft, prevailing wind conditions, the need to operate over a variety of speeds and stringent safety requirements make it difficult to generate safe plans for these systems. Prior work has shown results for only parts of the problem. Here we present the first comprehensive

    更新日期:2019-09-06
  • Evaluating 3D local descriptors and recursive filtering schemes for LIDAR‐based uncooperative relative space navigation
    J. Field Robot. (IF 4.345) Pub Date : 2019-09-05
    Odysseas Kechagias‐Stamatis, Nabil Aouf, Vincent Dubanchet

    We propose a light detection and ranging (LIDAR)‐based relative navigation scheme that is appropriate for uncooperative relative space navigation applications. Our technique combines the encoding power of the three‐dimensional (3D) local descriptors that are matched exploiting a correspondence grouping scheme, with the robust rigid transformation estimation capability of the proposed adaptive recursive

    更新日期:2019-09-05
  • Terrain‐adaptive wheel speed control on the Curiosity Mars rover: Algorithm and flight results
    J. Field Robot. (IF 4.345) Pub Date : 2019-08-26
    Olivier Toupet, Jeffrey Biesiadecki, Arturo Rankin, Amanda Steffy, Gareth Meirion‐Griffith, Dan Levine, Maximilian Schadegg, Mark Maimone

    NASA's Mars Science Laboratory Curiosity rover landed in August 2012 and began experiencing higher rates of wheel damage beginning in October 2013. While the wheels were designed to accumulate considerable damage, the unexpected damage rate raised concerns regarding wheel lifetime. In response, the Jet Propulsion Laboratory developed and deployed mobility flight software on Curiosity that reduces the

    更新日期:2019-08-27
  • The branching‐course model predictive control algorithm for maritime collision avoidance
    J. Field Robot. (IF 4.345) Pub Date : 2019-08-20
    Bjørn‐Olav H. Eriksen, Morten Breivik, Erik F. Wilthil, Andreas L. Flåten, Edmund F. Brekke

    This article presents a new algorithm for short‐term maritime collision avoidance (COLAV) named the branching‐course model predictive control (BC‐MPC) algorithm. The algorithm is designed to be robust with respect to noise on obstacle estimates, which is a significant source of disturbance when using exteroceptive sensors such as, for example, radars for obstacle detection and tracking. Exteroceptive

    更新日期:2019-08-21
  • Multi‐AUV motion planning for archeological site mapping and photogrammetric reconstruction
    J. Field Robot. (IF 4.345) Pub Date : 2019-08-14
    Jane Wu, Russell C. Bingham, Samantha Ting, Kolton Yager, Zoë J. Wood, Timmy Gambin, Christopher M. Clark

    This paper presents coupled and decoupled multi‐autonomous underwater vehicle (AUV) motion planning approaches for maximizing information gain. The work is motivated by applications in which multiple AUVs are tasked with obtaining video footage for the photogrammetric reconstruction of underwater archeological sites. Each AUV is equipped with a video camera and side‐scan sonar. The side‐scan sonar

    更新日期:2019-08-14
  • Long‐duration fully autonomous operation of rotorcraft unmanned aerial systems for remote‐sensing data acquisition
    J. Field Robot. (IF 4.345) Pub Date : 2019-08-14
    Danylo Malyuta, Christian Brommer, Daniel Hentzen, Thomas Stastny, Roland Siegwart, Roland Brockers

    Recent applications of unmanned aerial systems (UAS) to precision agriculture have shown increased ease and efficiency in data collection at precise remote locations. However, further enhancement of the field requires operation over long periods of time, for example, days or weeks. This has so far been impractical due to the limited flight times of such platforms and the requirement of humans in the

    更新日期:2019-08-14
  • Robust joint stem detection and crop‐weed classification using image sequences for plant‐specific treatment in precision farming
    J. Field Robot. (IF 4.345) Pub Date : 2019-08-11
    Philipp Lottes, Jens Behley, Nived Chebrolu, Andres Milioto, Cyrill Stachniss

    Conventional farming still relies on large quantities of agrochemicals for weed management which have several negative side‐effects on the environment. Autonomous robots offer the potential to reduce the amount of chemicals applied, as robots can monitor and treat each plant in the field individually and thereby circumventing the uniform chemical treatment of the whole field. Such agricultural robots

    更新日期:2019-08-12
  • A comparative study of fruit detection and counting methods for yield mapping in apple orchards
    J. Field Robot. (IF 4.345) Pub Date : 2019-08-09
    Nicolai Häni, Pravakar Roy, Volkan Isler

    We present a modular end‐to‐end system for yield estimation in apple orchards. Our goal is to identify fruit detection and counting methods with the best performance for this task. We propose a novel semantic segmentation‐based approach for fruit detection and counting and perform extensive comparative analysis against other state‐of‐the‐art techniques. This is the first work comparing multiple fruit

    更新日期:2019-08-09
  • Automatic targetless camera–LIDAR calibration by aligning edge with Gaussian mixture model
    J. Field Robot. (IF 4.345) Pub Date : 2019-08-09
    Jaehyeon Kang, Nakju L. Doh

    This paper presents a calibration algorithm that does not require an artificial target object to precisely estimate a rigid‐body transformation between a camera and a light detection and ranging (LIDAR) sensor. The proposed algorithm estimates calibration parameters by minimizing a cost function that evaluates the edge alignment between two sensor measurements. In particular, the proposed cost function

    更新日期:2019-08-09
  • Stable camera position control of unmanned aerial vehicle with three‐degree‐of‐freedom manipulator for visual test of bridge inspection
    J. Field Robot. (IF 4.345) Pub Date : 2019-08-08
    Takahiro Ikeda, Satoshi Minamiyama, Shogo Yasui, Kenichi Ohara, Akihiko Ichikawa, Satoshi Ashizawa, Akihisa Okino, Takeo Oomichi, Toshio Fukuda

    This paper describes a camera position control with aerial manipulator for visual test of bridge inspection. Our developed unmanned aerial vehicle (UAV) has three‐degree‐of‐freedom (3‐DoF) manipulator on its top to execute visual or hammering test of the inspection. This paper focuses on the visual test. A camera was implemented at the end of the manipulator to acquire images of the narrow space of

    更新日期:2019-08-09
  • An autonomous strawberry‐harvesting robot: Design, development, integration, and field evaluation
    J. Field Robot. (IF 4.345) Pub Date : 2019-08-07
    Ya Xiong, Yuanyue Ge, Lars Grimstad, Pål J. From

    This paper presents an autonomous robot capable of picking strawberries continuously in polytunnels. Robotic harvesting in cluttered and unstructured environment remains a challenge. A novel obstacle‐separation algorithm was proposed to enable the harvesting system to pick strawberries that are located in clusters. The algorithm uses the gripper to push aside surrounding leaves, strawberries, and other

    更新日期:2019-08-08
  • The current state and future outlook of rescue robotics
    J. Field Robot. (IF 4.345) Pub Date : 2019-08-06
    Jeffrey Delmerico, Stefano Mintchev, Alessandro Giusti, Boris Gromov, Kamilo Melo, Tomislav Horvat, Cesar Cadena, Marco Hutter, Auke Ijspeert, Dario Floreano, Luca M. Gambardella, Roland Siegwart, Davide Scaramuzza

    Robotic technologies, whether they are remotely operated vehicles, autonomous agents, assistive devices, or novel control interfaces, offer many promising capabilities for deployment in real‐world environments. Postdisaster scenarios are a particularly relevant target for applying such technologies, due to the challenging conditions faced by rescue workers and the possibility to increase their efficacy

    更新日期:2019-08-06
  • Remote sensing and identification of volcanic plumes using fixed‐wing UAVs over Volcán de Fuego, Guatemala
    J. Field Robot. (IF 4.345) Pub Date : 2019-07-24
    Ben Schellenberg, Tom Richardson, Matt Watson, Colin Greatwood, Robert Clarke, Rick Thomas, Kieran Wood, Jim Freer, Helen Thomas, Emma Liu, Francis Salama, Gustavo Chigna

    This paper describes a series of proof‐of‐concept Beyond Visual Line Of Sight unmanned aerial vehicle flights which reached a range of up to 9 km and an altitude of 4,410 m Above Mean Sea Level over Volcán de Fuego in Guatemala, interacting with the volcanic plume on multiple occasions across a range of different conditions. Volcán de Fuego is an active volcano which emits gas and ash regularly, causing

    更新日期:2019-07-25
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