Grzegorz Cielniak
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View article: TeaPickingNet: Towards Robust Recognition of Fine-Grained Picking Actions in Tea Gardens Using an Attention-Enhanced Framework
TeaPickingNet: Towards Robust Recognition of Fine-Grained Picking Actions in Tea Gardens Using an Attention-Enhanced Framework Open
With the emergence of smart agriculture, precise behavior recognition in tea gardens has become increasingly important for operational monitoring and intelligent management. However, existing behavior detection systems face limitations whe…
View article: Resilient Timed Elastic Band Planner for Collision‐Free Navigation in Unknown Environments
Resilient Timed Elastic Band Planner for Collision‐Free Navigation in Unknown Environments Open
In autonomous navigation, trajectory replanning, refinement, and control command generation are essential for effective motion planning. This paper presents a resilient approach to trajectory replanning addressing scenarios where the initi…
View article: Kriging-Variance-Informed Multi-Robot Path Planning and Task Allocation for Efficient Mapping of Soil Properties
Kriging-Variance-Informed Multi-Robot Path Planning and Task Allocation for Efficient Mapping of Soil Properties Open
One of the most commonly performed environmental explorations is soil sampling to identify soil properties of agricultural fields, which can inform the farmer about the variable rate treatment of fertilisers in precision agriculture. Howev…
View article: Counting with Confidence: Accurate Pest Monitoring in Water Traps
Counting with Confidence: Accurate Pest Monitoring in Water Traps Open
Accurate pest population monitoring and tracking their dynamic changes are crucial for precision agriculture decision-making. A common limitation in existing vision-based automatic pest counting research is that models are typically evalua…
View article: Kriging Variance Informed Multi-Robot Path Planning and Task Allocation for Efficient Mapping of Soil Properties
Kriging Variance Informed Multi-Robot Path Planning and Task Allocation for Efficient Mapping of Soil Properties Open
Soil property mapping is an essential step in precision agriculture for informed fertiliser application, tillage, and irrigation management to improve crop yields. The current practices involve manual soil property sampling and lab tests o…
View article: Unsupervised Tomato Split Anomaly Detection using Hyperspectral Imaging and Variational Autoencoders
Unsupervised Tomato Split Anomaly Detection using Hyperspectral Imaging and Variational Autoencoders Open
Tomato anomalies/damages pose a significant challenge in greenhouse farming. While this method of cultivation benefits from efficient resource utilization, anomalies can significantly degrade the quality of farm produce. A common anomaly a…
View article: Counting with Confidence: Accurate Pest Monitoring in Water Traps
Counting with Confidence: Accurate Pest Monitoring in Water Traps Open
View article: A Unified Topological Representation for Robotic Fleets in Agricultural Applications
A Unified Topological Representation for Robotic Fleets in Agricultural Applications Open
Agricultural robots offer a viable solution to the critical challenges of productivity and sustainability of modern agriculture. The widespread deployment of agricultural robotic fleets, however, is still hindered by the overall system's c…
View article: Resilient Timed Elastic Band Planner for Collision-Free Navigation in Unknown Environments
Resilient Timed Elastic Band Planner for Collision-Free Navigation in Unknown Environments Open
In autonomous navigation, trajectory replanning, refinement, and control command generation are essential for effective motion planning. This paper presents a resilient approach to trajectory replanning addressing scenarios where the initi…
View article: Interactive Image-Based Aphid Counting in Yellow Water Traps under Stirring Actions
Interactive Image-Based Aphid Counting in Yellow Water Traps under Stirring Actions Open
The current vision-based aphid counting methods in water traps suffer from undercounts caused by occlusions and low visibility arising from dense aggregation of insects and other objects. To address this problem, we propose a novel aphid c…
View article: Deep Learning for Precision Agriculture: Post-Spraying Evaluation and Deposition Estimation
Deep Learning for Precision Agriculture: Post-Spraying Evaluation and Deposition Estimation Open
Precision spraying evaluation requires automation primarily in post-spraying imagery. In this paper we propose an eXplainable Artificial Intelligence (XAI) computer vision pipeline to evaluate a precision spraying system post-spraying with…
View article: Adaptive robot localization in dynamic environments through self-learnt long-term 3D stable points segmentation
Adaptive robot localization in dynamic environments through self-learnt long-term 3D stable points segmentation Open
View article: Advancing precision agriculture: domain-specific augmentations and robustness testing for convolutional neural networks in precision spraying evaluation
Advancing precision agriculture: domain-specific augmentations and robustness testing for convolutional neural networks in precision spraying evaluation Open
View article: Optimising robotic operation speed with edge computing via 5G network: Insights from selective harvesting robots
Optimising robotic operation speed with edge computing via 5G network: Insights from selective harvesting robots Open
Selective harvesting by autonomous robots will be a critical enabling technology for future farming. Increases in inflation and shortages of skilled labor are driving factors that can help encourage user acceptability of robotic harvesting…
View article: Optimising robotic operation speed with edge computing over 5G networks: Insights from selective harvesting robots
Optimising robotic operation speed with edge computing over 5G networks: Insights from selective harvesting robots Open
Selective harvesting by autonomous robots will be a critical enabling technology for future farming. Increases in inflation and shortages of skilled labour are driving factors that can help encourage user acceptability of robotic harvestin…
View article: Dual-band feature selection for maturity classification of specialty crops by hyperspectral imaging
Dual-band feature selection for maturity classification of specialty crops by hyperspectral imaging Open
The maturity classification of specialty crops such as strawberries and tomatoes is an essential agricultural downstream activity for selective harvesting and quality control (QC) at production and packaging sites. Recent advancements in D…
View article: Lincoln's Annotated Spatio-Temporal Strawberry Dataset (LAST-Straw)
Lincoln's Annotated Spatio-Temporal Strawberry Dataset (LAST-Straw) Open
Automated phenotyping of plants for breeding and plant studies promises to provide quantitative metrics on plant traits at a previously unattainable observation frequency. Developers of tools for performing high-throughput phenotyping are,…
View article: Vision based crop row navigation under varying field conditions in arable fields
Vision based crop row navigation under varying field conditions in arable fields Open
All persons who have made substantial contributions to the work reported in the manuscript (e.g., technical help, writing and editing assistance, general support), but who do not meet the criteria for authorship, are named in the Acknowled…
View article: Channel Randomisation: Self-Supervised Representation Learning for Reliable Visual Anomaly Detection in Specialty Crops
Channel Randomisation: Self-Supervised Representation Learning for Reliable Visual Anomaly Detection in Specialty Crops Open
View article: CostTrust: A Fast-Exploring, Iteratively Expanding Frontier-Based Kinodynamic Motion Planner
CostTrust: A Fast-Exploring, Iteratively Expanding Frontier-Based Kinodynamic Motion Planner Open
Sampling-based motion planning has recently experienced considerable advancements, particularly in the domain of geometric motion planning for diverse robotic systems. Nonetheless, kinodynamic motion planning, which additionally considers …
View article: Vision based crop row navigation under varying field conditions in arable fields
Vision based crop row navigation under varying field conditions in arable fields Open
Accurate crop row detection is often challenged by the varying field conditions present in real-world arable fields. Traditional colour based segmentation is unable to cater for all such variations. The lack of comprehensive datasets in ag…
View article: Dual-Band Feature Selection for Maturity Classification of Specialty Crops by Hyperspectral Imaging
Dual-Band Feature Selection for Maturity Classification of Specialty Crops by Hyperspectral Imaging Open
View article: A Vision-Based Navigation System for Arable Fields
A Vision-Based Navigation System for Arable Fields Open
Vision-based navigation systems in arable fields are an underexplored area in agricultural robot navigation. Vision systems deployed in arable fields face challenges such as fluctuating weed density, varying illumination levels, growth sta…
View article: Learned Long-Term Stability Scan Filtering for Robust Robot Localisation in Continuously Changing Environments
Learned Long-Term Stability Scan Filtering for Robust Robot Localisation in Continuously Changing Environments Open
In field robotics, particularly in the agricultural sector, precise localization presents a challenge due to the constantly changing nature of the environment. Simultaneous Localization and Mapping algorithms can provide an effective estim…
View article: A Unified Topological Representation for Robotic Fleets in Agricultural Applications
A Unified Topological Representation for Robotic Fleets in Agricultural Applications Open
Agricultural robots offer a viable solution to the critical challenges of productivity and sustainability of modern agriculture. The widespread deployment of agricultural robotic fleets, however, is still hindered by the overall system’s c…
View article: An Agricultural Precision Sprayer Deposit Identification System
An Agricultural Precision Sprayer Deposit Identification System Open
10.13039/501100000266-Engineering and Physical Sciences Research Council (Grant Number: EP/S023917/1)
View article: The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots
The ILIAD Safety Stack: Human-Aware Infrastructure-Free Navigation of Industrial Mobile Robots Open
Safe yet efficient operation of professional service robots within logistics or production in human-robot shared environments requires a flexible human-aware navigation stack. In this manuscript, we propose the ILIAD safety stack comprisin…
View article: Deep learning‐based crop row detection for infield navigation of agri‐robots
Deep learning‐based crop row detection for infield navigation of agri‐robots Open
Autonomous navigation in agricultural environments is challenged by varying field conditions that arise in arable fields. State‐of‐the‐art solutions for autonomous navigation in such environments require expensive hardware, such as Real‐Ti…
View article: Bacchus Long‐Term (BLT) data set: Acquisition of the agricultural multimodal BLT data set with automated robot deployment
Bacchus Long‐Term (BLT) data set: Acquisition of the agricultural multimodal BLT data set with automated robot deployment Open
Achieving a robust long‐term deployment with mobile robots in the agriculture domain is both a demanded and challenging task. The possibility to have autonomous platforms in the field performing repetitive tasks, such as monitoring or harv…
View article: LTS-NET: End-to-end Unsupervised Learning of Long-Term 3D Stable objects
LTS-NET: End-to-end Unsupervised Learning of Long-Term 3D Stable objects Open
In this research, we present an end-to-end data-driven pipeline for determining the long-term stability status of objects within a given environment, specifically distinguishing between static and dynamic objects. Understanding object stab…