ALFRED: Requirement-driven development of an open-source mobile manipulator for long-term plant monitoring

arXiv:2610.01477 · cs.RO, cs.AR, cs.CV · Submitted 2026-10-01 · Read on arXiv

cs.RO, cs.AR, cs.CV

Submitted: 2026-10-01

Updated: 2026-10-01

Code: https://github.com/CiaranJohnson/ALFRED

Project page: https://ciaranjohnson.github.io

Terminology

• Steering — 10× in this paper · explained in 2 episodes
• Modularity — 7× in this paper · explained in 9 episodes
• Core — 5× in this paper · explained in 2 episodes
• Aperture — 4× in this paper · explained in 1 episode
• Point Clouds — 4× in this paper · explained in 2 episodes
• Adam — 3× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 3× in this paper
• Accuracy — 2× in this paper · explained in 1 episode
• Autonomous Leaf and Forestry Research Exploration Device — 1× in this paper
• Calibration — 1× in this paper · explained in 7 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Instance Segmentation — 1× in this paper · explained in 3 episodes
• SICE International Symposium on System Integration — 1× in this paper

Sources

• Hefty: A Modular Reconfigurable Robot for Advancing Robot Manipulation in Agriculture
• Investigating the Impact of Multi-LiDAR Placement on Object Detection for Autonomous Driving
• FoMo: A Multi-Season Dataset for Robot Navigation in For^et Montmorency
• FAST-LIO2: Fast Direct LiDAR-inertial Odometry

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