6 papers
Learning to Predict Mobile Robot Stability in Off-Road Environments
Nathaniel Rose, Arif Ahmed, Emanuel Gutierrez-Cornejo +1
Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stabilit…
MoistureMapper: An Autonomous Mobile Robot for High-Resolution Soil Moisture Mapping at Scale
Nathaniel Rose, Hannah Chuang, Manuel A Andrade-Rodriguez +3
Soil moisture is a quantity of interest in many application areas including agriculture and climate modeling. Existing methods are not suitable for scale applications due to large…
Online Planning for Cooperative Air-Ground Robot Systems with Unknown Fuel Requirements
Ritvik Agarwal, Behnoushsadat Hatami, Alvika Gautam +1
We consider an online variant of the fuel-constrained UAV routing problem with a ground-based mobile refueling station (FCURP-MRS), where targets incur unknown fuel costs. We devel…
SARAL-Bot: Autonomous Robot for Strawberry Plant Care
Arif Ahmed, Ritvik Agarwal, Gaurav Srikar +2
Strawberry farming demands intensive labor for monitoring and maintaining plant health. To address this, Team SARAL develops an autonomous robot for the 2024 ASABE Student Robotics…
Visual Monitoring for Multiple Points of Interest on a 2.5D Terrain using a UAV with Limited Field-of-View Constraint
Parikshit Maini, Suijt PB, Pratap Tokekar
Varying terrain conditions and limited field-of-view restricts the visibility of aerial robots while performing visual monitoring operations. In this paper, we study the multi-poin…
Cooperative Planning for Fuel-constrained Aerial Vehicles and Ground-based Refueling Vehicles for Large-Scale Coverage
Parikshit Maini, Kaarthik Sundar, Sivakumar Rathinam +1
Low cost Unmanned Aerial Vehicles (UAVs) need multiple refuels to accomplish large area coverage. The number of refueling stations and their placement plays a vital role in determi…