4 papers
Efficient Collision Detection for Long and Slender Robotic Links in Euclidean Distance Fields: Application to a Forestry Crane
Marc-Philip Ecker, Bernhard Bischof, Minh Nhat Vu +3
Collision-free motion planning in complex outdoor environments relies heavily on perceiving the surroundings through exteroceptive sensors. A widely used approach represents the en…
Near Time-Optimal Hybrid Motion Planning for Timber Cranes
Marc-Philip Ecker, Bernhard Bischof, Minh Nhat Vu +3
Efficient, collision-free motion planning is essential for automating large-scale manipulators like timber cranes. They come with unique challenges such as hydraulic actuation cons…
GPU-Accelerated Motion Planning of an Underactuated Forestry Crane in Cluttered Environments
Minh Nhat Vu, Gerald Ebmer, Alexander Watcher +3
Autonomous large-scale machine operations require fast, efficient, and collision-free motion planning while addressing unique challenges such as hydraulic actuation limits and unde…
Towards Autonomous Wood-Log Grasping with a Forestry Crane: Simulator and Benchmarking
Minh Nhat Vu, Alexander Wachter, Gerald Ebmer +5
Forestry machines operated in forest production environments face challenges when performing manipulation tasks, especially regarding the complicated dynamics of underactuated cran…