2020
DOI: 10.48550/arxiv.2006.13413
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A Hierarchical Framework for Long-term and Robust Deployment of Field Ground Robots in Large-Scale Farming

Abstract: Achieving long term autonomy of robots operating in dynamic environments such as farms remains a significant challenge. Arguably, the most demanding factors to achieve this are the on-board resource constraints such as energy, planning in the presence of moving individuals such as livestock and people, and handling unknown and undulating terrain. These considerations require a robot to be adaptive in its immediate actions in order to successfully achieve long-term, resource-efficient and robust autonomy. To ac… Show more

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