7 papers
EXACT-MPPI: Exact Signed-Distance Navigation for Arbitrary-Footprint Robots from Point Clouds via Path Integral Control
Chen Peng, Zhikang Ge, Wenwu Lu +3
Ground robots often carry payloads, implements, or other attachments that turn their effective footprint into complex, non-convex shapes. Navigating safely through clutter then req…
Neural Distance-Guided Path Integral Control for Tractor-Trailer Navigation
Peng Wei, Chen Peng, Stavros Vougioukas
Autonomous and safe navigation of tractor-trailer systems requires accurate, real-time collision avoidance and dynamically feasible control, particularly in cluttered and complex a…
Learning to Pick: A Visuomotor Policy for Clustered Strawberry Picking
Zhenghao Fei, Wenwu Lu, Linsheng Hou +1
Strawberries naturally grow in clusters, interwoven with leaves, stems, and other fruits, which frequently leads to occlusion. This inherent growth habit presents a significant cha…
Optimal Scheduling of a Dual-Arm Robot for Efficient Strawberry Harvesting in Plant Factories
Yuankai Zhu, Wenwu Lu, Guoqiang Ren +3
Plant factory cultivation is widely recognized for its ability to optimize resource use and boost crop yields. To further increase the efficiency in these environments, we propose…
A Navigation System for ROV's inspection on Fish Net Cage
Zhikang Ge, Fang Yang, Wenwu Lu +3
Autonomous Remotely Operated Vehicles (ROVs) offer a promising solution for automating fishnet inspection, reducing labor dependency, and improving operational efficiency. In this…
Strawberry Robotic Operation Interface: An Open-Source Device for Collecting Dexterous Manipulation Data in Robotic Strawberry Farming
Linsheng Hou, Wenwu Lu, Yanan Wang +2
The strawberry farming is labor-intensive, particularly in tasks requiring dexterous manipulation such as picking occluded strawberries. To address this challenge, we present the S…