Lars Grimstad
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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: Cloud Hopping; Navigating in 3D Uneven Environments via Supervoxels and Control Lyapunov Function
Cloud Hopping; Navigating in 3D Uneven Environments via Supervoxels and Control Lyapunov Function Open
This paper presents a novel feedback motion planning method for mobile robot navigation in 3D uneven terrains. We take advantage of the \textit{supervoxel} representation of point clouds, which enables a compact connectivity graph of trave…
View article: Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots
Elevation State-Space: Surfel-Based Navigation in Uneven Environments for Mobile Robots Open
This paper introduces a new method for robot motion planning and navigation in uneven environments through a surfel representation of underlying point clouds. The proposed method addresses the shortcomings of state-of-the-art navigation me…
View article: Towards Safety in Open-field Agricultural Robotic Applications: A Method for Human Risk Assessment using Classifiers
Towards Safety in Open-field Agricultural Robotic Applications: A Method for Human Risk Assessment using Classifiers Open
Tractors and heavy machinery have been used for decades to improve the quality and overall agriculture production. Moreover, agriculture is becoming a trend domain for robotics, and as a consequence, the efforts towards automatizing agricu…
View article: Integration of a Human-aware Risk-based Braking System into an Open-Field Mobile Robot
Integration of a Human-aware Risk-based Braking System into an Open-Field Mobile Robot Open
Safety integration components for robotic applications are a mandatory feature for any autonomous mobile
\napplication, including human avoidance behaviors. This paper proposes a novel parametrizable scene risk evaluator for
\nopen-field a…
View article: Evaluation of Sampling-Based Optimizing Planners for Outdoor Robot\n Navigation
Evaluation of Sampling-Based Optimizing Planners for Outdoor Robot\n Navigation Open
Sampling-Based Optimal(SBO) path planning has been mainly used for robotic\narm manipulation tasks. Several research works have been carried out in order\nto evaluate performances of various SBO planners for arm manipulation. However,\nnot…
View article: Evaluation of Sampling-Based Optimizing Planners for Outdoor Robot Navigation
Evaluation of Sampling-Based Optimizing Planners for Outdoor Robot Navigation Open
Sampling-Based Optimal(SBO) path planning has been mainly used for robotic arm manipulation tasks. Several research works have been carried out in order to evaluate performances of various SBO planners for arm manipulation. However, not mu…
View article: An autonomous strawberry‐harvesting robot: Design, development, integration, and field evaluation
An autonomous strawberry‐harvesting robot: Design, development, integration, and field evaluation Open
This paper presents an autonomous robot capable of picking strawberries continuously in polytunnels. Robotic harvesting in cluttered and unstructured environment remains a challenge. A novel obstacle‐separation algorithm was proposed to en…
View article: Development and field evaluation of a strawberry harvesting robot with a cable-driven gripper
Development and field evaluation of a strawberry harvesting robot with a cable-driven gripper Open
This paper presents the development and evaluation of a robot for harvesting strawberries (Fragaria × ananassa) grown on table-tops in polytunnels. The robot is comprised of a newly-designed gripper mounted on an industrial arm which in tu…
View article: A Hardware and Software Modular Robot for the Agricultural Domain
A Hardware and Software Modular Robot for the Agricultural Domain Open
In order to take full potential of robots in the agriculture, there is a need for robots that can operate across different domains and infrastructure. Agriculture is extremely diverse and no two farms are the same, so robots need to be abl…
View article: Software Components of the Thorvald II Modular Robot
Software Components of the Thorvald II Modular Robot Open
In this paper, we present the key software components of the Thorvald II mobile robotic platform. Thorvald~II is a modular system developed by the authors for creating robots of arbitrary shapes and sizes, primarily for the agricultural do…
View article: Modular, mobile robots for applications in the agricultural domain
Modular, mobile robots for applications in the agricultural domain Open
The population of the world is projected to reach almost 10 billion by 2050. To be able to feed everyone, we must increase food production by at least 50%. This must be achieved by a sector already responsible for a quarter of the global g…
View article: The Thorvald II Agricultural Robotic System
The Thorvald II Agricultural Robotic System Open
This paper presents a novel and modular approach to agricultural robots. Food production is highly diverse in several aspects. Even farms that grow the same crops may differ in topology, infrastructure, production method, and so on. Modula…
View article: Kinematic Modeling and Control Design of a Novel Single-Rail Parallel Arm
Kinematic Modeling and Control Design of a Novel Single-Rail Parallel Arm Open
This paper presents a novel 3-DoF parallel robot arm designed for use in applications that demand a high number of densely mounted manipulators with overlapping workspaces. The presented arm, which is mounted on a single rail, has such a w…
View article: Thorvald II - a Modular and Re-configurable Agricultural Robot
Thorvald II - a Modular and Re-configurable Agricultural Robot Open
This paper presents Thorvald II, a modular, highly re-configurable, all-weather mobile robot intended for applications in the agricultural domain. Researchers working with mobile agricultural robots tend to work in a wide variety of enviro…
View article: Exploring Robots and UAVs as Phenotyping Tools in Plant Breeding
Exploring Robots and UAVs as Phenotyping Tools in Plant Breeding Open