69 citations · 175 across the 14 of their papers we have counts for
14 papers
LeCropFollow: Latent Space Planning for Navigation in Unstructured Crop Fields
Felipe Tommaselli, Francisco Affonso, Arthur Pompeu +4
Unstructured navigational features, such as irregular planting or discontinuities, remain the primary failure mode for under-canopy agricultural robots. Existing geometric approach…
BYON: Bring Your Own Networks for Digital Agriculture Applications
Emerson Sie, Bill Tao, Aganze Mihigo +5
Digital agriculture technologies rely on sensors, drones, robots, and autonomous farm equipment to improve farm yields and incorporate sustainability practices. However, the adopti…
MetaCropFollow: Few-Shot Adaptation with Meta-Learning for Under-Canopy Navigation
Thomas Woehrle, Arun N. Sivakumar, Naveen Uppalapati +1
Autonomous under-canopy navigation faces additional challenges compared to over-canopy settings - for example the tight spacing between the crop rows, degraded GPS accuracy and exc…
CropNav: a Framework for Autonomous Navigation in Real Farms
Mateus Valverde Gasparino, Vitor Akihiro Hisano Higuti, Arun Narenthiran Sivakumar +3
Small robots that can operate under the plant canopy can enable new possibilities in agriculture. However, unlike larger autonomous tractors, autonomous navigation for such under c…
AdaCropFollow: Self-Supervised Online Adaptation for Visual Under-Canopy Navigation
Arun N. Sivakumar, Federico Magistri, Mateus V. Gasparino +3
Under-canopy agricultural robots can enable various applications like precise monitoring, spraying, weeding, and plant manipulation tasks throughout the growing season. Autonomous…
Learning to Turn: Diffusion Imitation for Robust Row Turning in Under-Canopy Robots
Arun N. Sivakumar, Pranay Thangeda, Yixiao Fang +4
Under-canopy agricultural robots require robust navigation capabilities to enable full autonomy but struggle with tight row turning between crop rows due to degraded GPS reception,…
PlantTrack: Task-Driven Plant Keypoint Tracking with Zero-Shot Sim2Real Transfer
Samhita Marri, Arun N. Sivakumar, Naveen K. Uppalapati +1
Tracking plant features is crucial for various agricultural tasks like phenotyping, pruning, or harvesting, but the unstructured, cluttered, and deformable nature of plant environm…
W-RIZZ: A Weakly-Supervised Framework for Relative Traversability Estimation in Mobile Robotics
Andre Schreiber, Arun N. Sivakumar, Peter Du +3
Successful deployment of mobile robots in unstructured domains requires an understanding of the environment and terrain to avoid hazardous areas, getting stuck, and colliding with…
Lessons from Deploying CropFollow++: Under-Canopy Agricultural Navigation with Keypoints
Arun N. Sivakumar, Mateus V. Gasparino, Michael McGuire +3
We present a vision-based navigation system for under-canopy agricultural robots using semantic keypoints. Autonomous under-canopy navigation is challenging due to the tight spacin…
WayFASTER: a Self-Supervised Traversability Prediction for Increased Navigation Awareness
Mateus Valverde Gasparino, Arun Narenthiran Sivakumar, Girish Chowdhary
Accurate and robust navigation in unstructured environments requires fusing data from multiple sensors. Such fusion ensures that the robot is better aware of its surroundings, incl…
Proactive Anomaly Detection for Robot Navigation with Multi-Sensor Fusion
Tianchen Ji, Arun Narenthiran Sivakumar, Girish Chowdhary +1
Despite the rapid advancement of navigation algorithms, mobile robots often produce anomalous behaviors that can lead to navigation failures. The ability to detect such anomalous b…
WayFAST: Navigation with Predictive Traversability in the Field
Mateus Valverde Gasparino, Arun Narenthiran Sivakumar, Yixiao Liu +5
We present a self-supervised approach for learning to predict traversable paths for wheeled mobile robots that require good traction to navigate. Our algorithm, termed WayFAST (Way…
Learned Visual Navigation for Under-Canopy Agricultural Robots
Arun Narenthiran Sivakumar, Sahil Modi, Mateus Valverde Gasparino +4
We describe a system for visually guided autonomous navigation of under-canopy farm robots. Low-cost under-canopy robots can drive between crop rows under the plant canopy and acco…
Multi-Sensor Fusion based Robust Row Following for Compact Agricultural Robots
Andres Eduardo Baquero Velasquez, Vitor Akihiro Hisano Higuti, Mateus Valverde Gasparino +3
This paper presents a state-of-the-art LiDAR based autonomous navigation system for under-canopy agricultural robots. Under-canopy agricultural navigation has been a challenging pr…