As a late report of #ICRA #ICRA2023, here are the robots I loved the most there:
- @1x_tech’s Eve: the most potent #humanoid
- Engineered Arts Ltd's Ameca: the most expressive, the most vibrant engagement #HRI
- Pollen Robotics's Reachy: cheap, capable and fun #humanoidrobot
- @palrobotics's Tiago Pro: a nicer version of the very capable Tiago
Claire chatted to Elena De Momi from the Polytechnic University of Milan all about surgical robotics, artificial intelligence, and the upcoming ICRA robotics conference in London.
# A fast two-stage approach for multi-goal path planning in a fruit tree
How do you efficiently plan a path for a drone around a fruit tree, and then plan its movements so it reaches into the tree to reach the fruit with a robotic arm? In what order do you do that?
It's my contribution to the 2023 International Conference on Robotics and Automation! #ICRA2023
https://ieeexplore.ieee.org/document/10160281
#conference #academia #publication #robotics #drones #UAV #motionplanning #pathplanning #roboticarm #algorithms #academia #research #ieee #ICRA #orchards #farming #agriculture
We consider the problem of planning the motion of a drone equipped with a robotic arm, tasked with bringing its end-effector up to many (150+) targets in a fruit tree; to inspect every piece of fruit, for example. The task is complicated by the intersection of a version of Neighborhood TSP (to find an optimal order and a pose to visit every target), and a robotic motion-planning problem through a planning space that features numerous cavities and narrow passages that confuse common techniques. In this contribution, we present a framework that decomposes the problem into two stages: planning approach paths for every target, and quickly planning between the start points of those approach paths. Then, we compare our approach by simulation to a more straightforward method based on multiquery planning, showing that our approach outperforms it in both time and solution cost.
This week in Weekly Robotics ICRA 2023 special: Boston Dynamics AI Institute, O3DE simulation with ROS 2, robotic avatars at the exhibition floor, and more!
Had a great time at the ICRA Robots and Automation conference in London this week!
Thanks to everyone who very kindly hosted me. Highlights included Jasia Reichardt's keynote 'In Praise of Strangeness': https://www.icra2023.org/plenary-keynote-sessions
And the performance by the legend that is Stelarc: https://www.icra2023.org/art-robotics-stelarc
Autonomous Robots Lab open sources Aerial Gym. A new simulator for aerial robots built on top of Nvidia's Isaac Gym.
This repository contains code for Aerial Gym - IsaacGym Simulator for Aerial Robots - GitHub - ntnu-arl/aerial_gym_simulator: This repository contains code for Aerial Gym - IsaacGym Simulator for...
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