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Robotic Lime Picking by Considering Leaves as Permeable Obstacles

The problem of robotic lime picking is challeng- ing; lime plants have dense foliage which makes it difficult for a robotic arm to grasp a lime without coming in contact with leaves. Existing approaches either do not consider leaves, or treat them as …

A Hierarchical Approach to Multi-Agent Path Finding

We propose a hierarchical framework for solving the Multi-Agent Path Finding (MAPF) problem. We spatially divide a large map instance into smaller sub-regions and use a high-level solver to guide agents through the sub-regions. Within each region, we …

A Hierarchical Approach to Multi-Agent Path Finding

We propose a hierarchical framework for solving the Multi-Agent Path Finding (MAPF) problem. We spatially divide a large map instance into smaller sub-regions and use a high-level solver to guide agents through the sub-regions. Within each region, we …

Physics-based Simulation of Continuous-Wave LIDAR for Localization, Calibration and Tracking

Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines with depth measurements of the environment. While their accuracy outperforms other types of …