6 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…
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…
Efficient and Safe Trajectory Planning for Autonomous Agricultural Vehicle Headland Turning in Cluttered Orchard Environments
Peng Wei, Chen Peng, Wenwu Lu +4
Autonomous agricultural vehicles (AAVs), including field robots and autonomous tractors, are becoming essential in modern farming by improving efficiency and reducing labor costs.…