7 papers
Droneulator: A Portable UAV Simulator for Agricultural Workflows with RotorPy and Godot 4
Jacob Swindell, Michael Lowen, Marija Popovic +1
Agricultural UAV research requires simulators that integrate realistic 3D scenes, high-fidelity vehicle dynamics, and robotics middleware, while remaining practical to deploy acros…
Perception-Aware Autonomous Exploration in Feature-Limited Environments
Moji Shi, Rajitha de Silva, Hang Yu +3
Autonomous exploration in unknown environments typically relies on onboard state estimation for localisation and mapping. Existing exploration methods primarily maximise coverage e…
Semantic Landmark Particle Filter for Robot Localisation in Vineyards
Rajitha de Silva, Jonathan Cox, James R. Heselden +3
Reliable localisation in vineyards is hindered by row-level perceptual aliasing: parallel crop rows produce nearly identical LiDAR observations, causing geometry-only and vision-ba…
Active Informative Planning for UAV-based Weed Mapping using Discrete Gaussian Process Representations
Jacob Swindell, Marija PopoviÄ, Riccardo Polvara
Accurate agricultural weed mapping using unmanned aerial vehicles (UAVs) is crucial for precision farming. While traditional methods rely on rigid, pre-defined flight paths and int…
Semantic-Aware Particle Filter for Reliable Vineyard Robot Localisation
Rajitha de Silva, Jonathan Cox, James R. Heselden +3
Accurate localisation is critical for mobile robots in structured outdoor environments, yet LiDAR-based methods often fail in vineyards due to repetitive row geometry and perceptua…
Keypoint Semantic Integration for Improved Feature Matching in Outdoor Agricultural Environments
Rajitha de Silva, Jonathan Cox, Marija Popovic +3
Robust robot navigation in outdoor environments requires accurate perception systems capable of handling visual challenges such as repetitive structures and changing appearances. V…