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fieldNet: Efficient real-time shadow removal for enhanced vision in field robotics

EXPERT SYSTEMS WITH APPLICATIONS 2025年 279卷

作者： Saleh, Alzayat Olsen, Alex Wood, Jake Philippa, Bronson Azghadi, Mostafa Rahimi James Cook Univ Coll Sci & Engn Townsville Qld Australia AutoWeed Pty Ltd Townsville Qld Australia James Cook Univ ARC Res Hub Super charging Trop Aquaculture Genet Townsville Qld Australia

Shadows significantly hinder computer vision tasks in outdoor environments, particularly in field robotics, where varying lighting conditions complicate object detection and localization. We present fieldNet, a novel deep learning framework for real-time shadow removal, optimized for resource-constrained hardware. fieldNet introduces a probabilistic enhancement module and a novel loss function to address challenges of inconsistent shadow boundary supervision and artefact generation, achieving enhanced accuracy and simplicity without requiring shadow masks during inference. Trained on a dataset of 10,000 natural images augmented with synthetic shadows, fieldNet outperforms state-of-the-art methods on benchmark datasets (ISTD, ISTD+, SRD), with up to 9x speed improvements (66 FPS on Nvidia 2080Ti) and superior shadow removal quality (PSNR: 38.67, SSIM: 0.991). Real-world case studies in precision agriculture robotics demonstrate the practical impact of fieldNet in enhancing weed detection accuracy. These advancements establish fieldNet as a robust, efficient solution for real-time vision tasks in field robotics and beyond.

关键词： Shadow removal Unpaired data Real-time image processing Deep learning field robotics

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field robotics: Applications and Fundamentals

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JOURNAL OF robotics AND MECHATRONICS 2021年第6期33卷 1216-1222页

作者： Fukao, Takanori Univ Tokyo Bunkyo Ku 7-3-1 Hongo Tokyo 1138656 Japan

field robotics is an area that is impelled by an application-driven approach by its nature. In this paper, I first review certain actual application areas of field robotics. Then, I discuss the current status of the application of field robotics in three common technologies: (1) mapping and path planning;(2) self-localization, recognition, and decision-making;and (3) dynamics and control. I then conclude by presenting future perspectives.

关键词： field robotics path planning robust control recognition artificial intelligence

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On the Analysis of a Multi-Task Modular Robot System for field robotics

On the Analysis of a Multi-Task Modular Robot System for Fie...

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7th IEEE Electronics, robotics and Automotive Mechanics Conference (CERMA)

作者： Baca, Jose Ferre, Manuel Campos, Alexandre Fernandez, Jose Aracil, Rafael Univ Politecn Madrid Ctr Automat & Robot Jose Gutierrez Abascal 2 E-28006 Madrid Spain

ISBN: (纸本)9780769542041

This paper describes a reconfigurable modular robot system named RobMAT which attempts to be used in different applications during teleoperation tasks. It permits rapid and cost effective design and fabrication. The approach employs elements from the inventory of three types of heterogeneous modules i.e., power and control module, joint module, and specialized module. The advantage of having interchangeable modules is the ability to build different robot configurations. Depending on the mission, the operator decides what type of robot can provide the best performance within the mission. Forward and inverse kinematics from assembled robot configurations are analyzed.

关键词： Rob MAT field robotics field robotics forward kinematics inverse kinematics mechanical design modular robots multi-task multi-task modular robot system reconfigurable modular robot system robot kinematics tele operation tasks telerobotics

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Practical Comparison of Communication Technologies Suitable for field robotics 6th

Practical Comparison of Communication Technologies Suitable ...

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6th International Conference on Modelling and Simulation for Autonomous Systems (MESAS)

作者： Hybl, Matous Jilek, Tomas Zalud, Ludek Brno Univ Technol DCI FEEC Brno Czech Republic Brno Univ Technol CEITEC Brno Czech Republic

ISBN: (纸本)9783030438906;9783030438890

The aim of this paper is to describe development of an evaluation system for practical comparison of wireless communication technologies used in field robotics. The evaluation system is capable of measuring data rate, drop rate and latency in both communication directions. The evaluation system closely simulates communication of a teleoperated field robot with its base station - which is a highly asymmetric communication link, because there is a high data rate video feed transmission from the robot to the base station. This paper describes specifics of wireless communication links used in field robotics and considerations that need to be taken into account when developing such system. The wireless link evaluation system is described from hardware and software point of view.

关键词： field robotics Wireless communication technology Evaluation system 802.11 Mobile robot

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The Pransky interview: Professor Robin R. Murphy, Co-founder of the field of Disaster robotics and Founder of Roboticists Without Borders

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INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF robotics RESEARCH AND APPLICATION 2018年第5期45卷 591-596页

作者： Pransky, Joanne Murphy, Robin R. Texas A&M Univ CRASAR College Stn TX 77843 USA Texas A&M Univ Ctr Emergency Informat College Stn TX 77843 USA

Purpose This paper is a Q&A interview conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful innovator and leader regarding the challenges of bringing technological discoveries to fruition. This paper aims to discuss these issues. Design/methodology/approach The interviewee is Dr Robin R. Murphy, Raytheon Professor of Computer Science and Engineering, Texas A&M University;Co-lead, Emergency Informatics EDGE Innovation Network Center, Texas A&M, Director of the Humanitarian robotics and AI Laboratory and Vice President of the Center for Robot-Assisted Search and Rescue (CRASAR) http://***. In this interview, Dr Murphy provides answers to questions regarding her pioneering experiences in rescue robotics. Findings As a child, Dr Murphy knew she wanted to be a mechanical engineer and obtained her BME degree from Georgia Institute of Technology (Georgia Tech). While working in industry after her BME, she fell in love with computer science and received an MS and PhD in Computer Science at Georgia Tech where she was a Rockwell International Doctoral Fellow. In the mid-1990s, while teaching at the Colorado School of Mines, she pioneered rescue robots after one of her graduate students returned from the Oklahoma City bombing and suggested that small rescue robots should be developed for future disasters. The National Science Foundation awarded Murphy and her students the first grant for search-and-rescue robots. She has since assisted in responses at more than 20 worldwide disasters, including Hurricane Katrina, the Crandall Canyon Mine collapse, the Tohoku Tsunami and the Fukushima Daiichi nuclear accident. Originality/value The response to the World Trade Center attacks after September 11, 2001 by Dr Murphy's team from the University of South Florida (the only academic institution), along with four other teams brought togeth

关键词： Artificial intelligence Unmanned aerial vehicles (UAV) field robotics Hazardous Humanitarian robots Rescue robots

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An interdisciplinary field robotics program for undergraduate computer science and engineering education

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Journal on Educational Resources in Computing 2004年第2期4卷 3–es页

作者： Christopher Kitts Neil Quinn Santa Clara University

Santa Clara University's Robotic Systems Laboratory conducts an aggressive robotic development and operations program in which interdisciplinary teams of undergraduate students build and deploy a wide range of robotic systems, ranging from underwater vehicles to spacecraft. These year-long projects expose students to the breadth of and interdependence among engineering disciplines, the span of processes in a system development lifecycle, and the challenges of managing a development process. Over the past five years, this program has provided more than 150 students with exposure to computer science and engineering topics, including software engineering, algorithm development, human-computer interface design, and artificial intelligence. This program provides exciting and compelling educational opportunities for students, offers real-world applications that naturally motivate the need for specific computing technologies, and serves a broader research and development program that utilizes the functional robotic systems to support externally-funded science and technology demonstration missions. The experience of the authors, as well as formal program assessment data, show that this program provides strong student motivation for learning, offers comprehensive and valuable educational experiences, and enhances student performance. This article reviews the Santa Clara robotics program, highlights the role of computer science and engineering in several projects, and presents the assessment data showing the positive results of this program.

关键词： autonomous control field robotics interdisciplinary education mobile robots project based learning teleoperation telerobotics

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Hybrid Metric-Topological Localization for Robots in Pipe Networks

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JOURNAL OF field robotics 2025年第3期42卷 806-826页

作者： Worley, Rob Anderson, Sean R. Univ Sheffield Dept Automat Control & Syst Engn Sheffield England

Accurate, reliable, and efficient robot localization is essential for long-term autonomous robotic inspection of buried pipe networks. It is necessary for path planning and for locating detected faults in the network. This paper proposes a novel localization algorithm designed for limited, high-uncertainty sensing in network environments. The localization method is developed from the Viterbi algorithm, which efficiently searches for the most likely robot trajectory amongst multiple hypotheses. It is augmented to facilitate hybrid metric-topological localization, and it is improved to efficiently spend computation on useful points in time. Results using field robot data from a sewer network demonstrate the algorithm's practical applicability, as the algorithm is shown to robustly produce a coherent trajectory estimate with low error in estimated location, compared with a particle filter alternative that incorrectly jumps between parts of the network. Results using simulated data demonstrate the algorithm's robust performance at large spatial and temporal scales. In 79% of trajectories, the algorithm produces less error than a particle filter, while requiring a median of 0.18 times the computation time, demonstrating a substantial improvement in computational efficiency with comparable or superior accuracy. The flexibility of the algorithm is also demonstrated in simulation by incorporating measurements representing acoustic echo sensing and pipe gradient sensing, which is shown to reduce the error rate from 28% to 7% or below, in the case of large uncertainty in all other inputs. These results demonstrate that the proposed localization method improves the computational efficiency, accuracy, and robustness of localization compared to a particle filter specialized to the pipe environment, even in the presence of limited and high-uncertainty sensing.

关键词： field robotics localization mobile robots navigation

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Heliquad for Mid-Flight Flipping and Full-Attitude Control Under the Complete Actuator Failure

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2025年

作者： Kulkarni, Eeshan Sundaram, Suresh Indian Inst Sci Dept Aerosp Engn Bangalore 560012 India

This article contributes to the design and development of a variable-pitch-propeller mechanism and its application on a quadcopter called Heliquad. The Heliquad demonstrates unique capabilities, including mid-flight flipping and full-attitude control, even after the complete failure of an actuator. The input-output relationship is estimated for a generic mechanism. Various singularities and actuator sizing requirements are also analyzed. The mechanism is manufactured, and the validated input-output relationship is implemented in Heliquad's controller. Heliquad is controlled by a unified nonswitching cascaded attitude-rate controller, followed by a unique neural-network-based reconfigurable control allocation to approximate nonlinear relationship between the control input and actuator command. The Heliquad prototype's mid-flight flip experiment validates the controller's tracking performance in upright and inverted conditions. The prototype is then flown in upright conditions with only three of its working actuators. To the best of the authors' knowledge, the cambered-airfoil propeller-equipped Heliquad prototype demonstrates full-attitude control, including yaw rate, on three working actuators for the first time in the literature. Finally, utility of this novel capability is demonstrated by safe recovery and precise landing post-mid-flight actuator failure crisis. Overall, the Heliquad tracks the references well for all the experiments and the neural network-based control allocation output remains bounded throughout.

关键词： Actuators Quadrotors Propellers Motors Blades Resource management Prototypes Shafts Mechatronics Attitude control field robotics mechanism design propeller variable-pitch-propeller (VPP) quadcopter

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A differentiable dynamic modeling approach to integrated motion planning and actuator physical design for mobile manipulators

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JOURNAL OF field robotics 2025年第1期42卷 37-64页

作者： Lu, Zehui Wang, Yebin Purdue Univ Sch Aeronaut & Astronaut W Lafayette IN USA Mitsubishi Elect Res Labs 201 Broadway8th Floor Cambridge MA 02139 USA

This paper investigates the differentiable dynamic modeling of mobile manipulators to facilitate efficient motion planning and physical design of actuators, where the actuator design is parameterized by physically meaningful motor geometry parameters. The proposed differentiable modeling comprises two major components. First, the dynamic model of the mobile manipulator is derived, which differs from the state-of-the-art in two aspects: (1) the model parameters, including magnetic flux, link mass, inertia, and center-of-mass, are represented as analytical functions of actuator design parameters;(2) the dynamic coupling between the base and the manipulator is captured. Second, the state and control constraints, such as maximum angular velocity and torque capacity, are established as analytical functions of actuator design parameters. This paper further showcases two typical use cases of the proposed differentiable modeling work: integrated locomotion and manipulation planning;simultaneous actuator design and motion planning. Numerical experiments demonstrate the effectiveness of differentiable modeling. That is, for motion planning, it can effectively reduce computation time as well as result in shorter task completion time and lower energy consumption, compared with an established sequential motion planning approach. Furthermore, actuator design and motion planning can be jointly optimized toward higher performance.

关键词： computational complexity field robotics optimization systems design systems engineering

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An End-to-End Deep Reinforcement Learning Based Modular Task Allocation Framework for Autonomous Mobile Systems

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IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING 2025年 22卷 1519-1533页

作者： Ma, Song Ruan, Jingqing Du, Yali Bucknall, Richard Liu, Yuanchang UCL Dept Mech Engn London WC1E 7JE England Chinese Acad Sci Inst Automat Beijing 100190 Peoples R China Kings Coll London Dept Informat London WC2R 2LS England

Intelligent decision-making systems that can solve task allocation problems are critical for multi-robot systems to conduct industrial applications in a collaborative and automated way, such as warehouse inspection using mobile robots, hydrographic surveying using unmanned surface vehicles, etc. This paper, therefore, aims to address the task allocation problem for multi-agent autonomous mobile systems to autonomously and intelligently allocate multiple tasks to a fleet of robots. Such a problem is normally regarded as an independent decision-making process decoupled from the following task planning for the member robots. To avoid the sub-optimal allocation caused by the decoupling, an end-to-end task allocation framework is proposed to tackle this combinatorial optimisation problem while taking the succeeding task planning into account during the optimisation process. The problem is formulated as a special variant of the multi-depot multiple travelling salesmen problem (mTSP). The proposed end-to-end task allocation framework employs deep reinforcement learning methods to replace the handcrafted heuristics used in previous works. The proposed framework features a modular design of the reinforcement learning agent which can be customised for various applications. Moreover, a real-robot implementation setup based on the Robot Operating System 2 is presented to fulfil the simulation-to-reality gap. A warehouse inspection mission is executed to validate the training outcome of the proposed framework. The framework has been cross-validated via both simulated and real-robot tests with various parameter settings, where adaptability and performance are well demonstrated. Note to Practitioners-This paper is motivated by the problem of dispatching a fleet of autonomous mobile robots to tackle a mission that can be resolved into multiple waypoint-following tasks. An end-to-end modular framework is proposed, making task allocation decisions based on the given waypoint informat

关键词： Deep reinforcement learning task allocation multi-agent planning field robotics

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