I am a Ph.D. student in Computer Science at the University of Illinois at Urbana-Champaign. I’m advised by Dr. Girish Chowdhary in the Distributed Autonomous Systems Lab (DASLAB). My research focuses on active semantic mapping and 3D perception for agricultural robotics. I am particularly interested in developing AI-driven methods for mapping and understanding complex agricultural environments, such as greenhouses and orchards, where occlusions, sensor noise, and uncertainty pose significant challenges. My work combines techniques from computer vision, deep learning, and robotics to enable robots to perceive and interact intelligently with plants and fruits. Ultimately, my goal is to advance autonomous systems that support sustainable and precise agricultural practices.
We introduce a novel, modular framework that uses a Visual Language Model (VLM) to guide robotic task planning, interleaving input queries with action primitives. We contribute a comprehensive benchmark for short- and long-horizon crop monitoring tasks in monoculture and polyculture environments.
We present a system that integrates the classical Octomap representation with 3D Gaussian Splatting to enable accurate and efficient target-aware mapping of horticultural environments.
We introduce an efficient and scalable approach for active semantic mapping in horticultural environments, employing a mobile robot manipulator equipped with an RGB-D camera.
We present the TerraSentia Dataset, a comprehensive collection of data for advancing SLAM techniques in agricultural robotics, specifically designed for under-canopy environments.
This paper presents a comprehensive review of the use of unmanned aerial vehicles (UAVs) for crop monitoring, highlighting recent advancements, challenges, and future directions in the field.