5 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…
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…
Fast Heuristic Scheduling and Trajectory Planning for Robotic Fruit Harvesters with Multiple Cartesian Arms
Yuankai Zhu, Stavros Vougioukas
This work proposes a fast heuristic algorithm for the coupled scheduling and trajectory planning of multiple Cartesian robotic arms harvesting fruits. Our method partitions the wor…
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.…