Corrigendum: Terrain awareness using a tracked skid-steering vehicle with passive independent suspensions.

[This corrects the article DOI: 10.3389/frobt.2019.

Adaptive heading correction for an industrial heavy-duty omnidirectional robot.

The paper deals with the design and testing of a robot for industrial applications featuring omnidirectionality thanks to the use of mecanum wheels. While this architecture provides remarkable manoeuvrability in narrow or cluttered spaces, it has some drawbacks that limit its widespread deployment in practice, especially for heavy-duty and long-duration tasks. As an example, the variability in the mecanum wheel rolling radius leads to undesired dynamic ill-effects, such as slippage and vibrations that affect the accuracy of pose estimation and tracking control systems.

In-Field Automatic Identification of Pomegranates Using a Farmer Robot.

Ground vehicles equipped with vision-based perception systems can provide a rich source of information for precision agriculture tasks in orchards, including fruit detection and counting, phenotyping, plant growth and health monitoring. This paper presents a semi-supervised deep learning framework for automatic pomegranate detection using a farmer robot equipped with a consumer-grade camera. In contrast to standard deep-learning methods that require time-consuming and labor-intensive image labeling, the proposed system relies on a novel multi-stage transfer learning approach, whereby a pre-trained network is fine-tuned for the target task using images of fruits in controlled conditions, and then it is progressively extended to more complex scenarios towards accurate and efficient segmentation of field images.

Remote mentoring in laparotomic and laparoscopic cancer surgery during Covid-19 pandemic: an experimental setup based on mixed reality.

In this paper, Mixed Reality (MR) has been exploited in the operating rooms to perform laparoscopic and open surgery with the aim of providing remote mentoring to the medical doctors under training during the Covid-19 pandemic. The employed architecture, which has put together MR smartglasses, a Digital Imaging Player, and a Mixed Reality Toolkit, has been used for cancer surgery at the IRCCS Hospital 'Giovanni Paolo II' in southern Italy. The feasibility of using the conceived platform for real-time remote mentoring has been assessed on the basis of surveys distributed to the trainees after each surgery.

Terrain Awareness Using a Tracked Skid-Steering Vehicle With Passive Independent Suspensions.

This paper presents a novel approach for terrain characterization based on a tracked skid-steer vehicle with a passive independent suspensions system. A set of physics-based parameters is used to characterize the terrain properties: drive motor electrical currents, the equivalent track, the power spectral density for the vertical accelerations and motor currents. Based on this feature set, the system predicts the type of terrain that the robot traverses.