用植物自身力学特性代替机器人响应，实现更通用的植被导航
When Obstacles Bend: Modeling Vegetation Deformation in the context of Field Robotics
- 通过测量变形与接触力，反推植物本征力学参数
- 重建植被对交互的响应，脱离具体机器人平台
- 适合农业与环境监测中的智能导航系统
在自然环境中自主运行的机器人常需与植被互动而非仅避开。当前通行的可通行性评估多从机器人视角出发，依赖特定平台的动态响应，导致结果难以跨平台迁移，且无法直接反映植被本身的属性——而这些属性正是农业和环境监测中交互与潜在损伤的根源。为此，本文提出基于植被本征机械特性进行表征，不依赖具体机器人。通过结合变形测量与接触力数据，估计其内在力学参数，并重构植被对交互的响应，实现基于环境本征属性的植被感知导航，突破平台依赖限制。
原文摘要 · Abstract (English)
Autonomous robots operating in natural environments must often interact with vegetation rather than simply avoid it. In this context, traversability is typically defined from the robot's perspective, by measuring how a specific platform responds when moving through the environment. While practical, this viewpoint entangles the assessment of the environment with the robot's own dynamics, making the resulting characterization difficult to transfer across different platforms. More importantly, it does not directly reflect the properties of the vegetation itself, which are the true source of interaction and potential damage in applications such as agriculture and environmental monitoring. To address this limitation, we propose to characterize vegetation through its intrinsic mechanical properties, independently of any specific robot. By combining deformation measurements with contact force data, we estimate the underlying mechanical parameters and reconstruct the vegetation's response to interaction. This enables vegetation-aware navigation based on intrinsic environmental properties rather than platform-dependent metrics.
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