8 accepted papers
This study introduces a visual scene understanding (VSU) pipeline that fuses scene graph generation (SGG) with task planning for agricultural robots. Mask R-CNN detects fruits, leaves, and stems; Object features feed heads for predicates and attributes such as rigidity and ripeness. The resulting gr
This paper introduces a prioritized path-planning algorithm for heterogeneous tasks performed by multiple unmanned ground vehicles (UGVs) in agricultural environments. The algorithm considers varying robot priorities, thereby extending the traditional multi-agent path finding (MAPF) approach. The pr…
As the interest in ecosystem protection increases, many researchers are focusing on tracking flying insects to preserve biodiversity. Invasive alien species (IAS) such as Vespa velutina nigrithorax require extensive consideration in this regard owing to size and weight limitations. In this paper, we…
This study proposes an intelligent spraying system with semantic segmentation of fruit trees in a pear orchard. A fruit tree detection system was developed using the SegNet model, a semantic segmentation structure. The system is trained with images categorized into five distinct classes. The learned…
Cooperation among heterogeneous agricultural field robots in an agricultural environment guarantees the advantages of effectiveness and scalability. However, traditional control theories for coordination among multiple heterogeneous robots lack a systematic modeling method and a control strategy und
This paper describes a wire-driven parallel robotic system for the maintenance of offshore wind turbines. This robotic system vertically climbs on towers or blades, and performs cleaning and inspection using waterjets and phased array ultrasonic testing (PAUT) devices, respectively. For a detailed m
We propose a novel whole-body multi-modal semiautonomous teleoperation framework for mobile manipulator systems, which consists of: 1) Motion capture and whole-body motion mapping to allow the operator to intuitively teleoperate the mobile manipulator without being constrained by the master interfac…