Perception-Based UAV Fruit Grasping Using Sub-Task Imitation Learning
2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)(2021)
摘要
This work considers autonomous fruit picking using an aerial grasping robot by tightly integrating vision-based perception and control within a learning framework. The architecture employs a convolutional neural network (CNN) to encode images and vehicle state information. This encoding is passed into a sub-task classifier and associated reference waypoint generator. The classifier is trained to p...
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