Efficient Robot-Aided Outdoor Cleaning with a Glasius Bio-Inspired Neural Network and Vision-Based Adaptation

Braulio Félix Gómez, James Wei Shung Lee, Akhil Jayadeep, M. A. Viraj J. Muthugala () and Mohan Rajesh Elara
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Braulio Félix Gómez: Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore
James Wei Shung Lee: Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore
Akhil Jayadeep: Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore
M. A. Viraj J. Muthugala: Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore
Mohan Rajesh Elara: Engineering Product Development Pillar, Singapore University of Technology and Design, 8 Somapah Rd, Singapore 487372, Singapore

Mathematics, 2025, vol. 13, issue 20, 1-17

Abstract: Robot-aided outdoor cleaning is a challenging task with plenty of room for improvement. The cleaning profile of a robot should be adjusted based on the availability of litter to ensure proper and efficient cleaning. This article proposes a novel system that integrates a Glasius Bio-Inspired Neural Network (GBNN) for coverage path planning with a vision-based cleaning profile adaptation scheme. The vision-based adaptation occurs based on the presence of leaves on the ground. The proposed system operates in two phases: an initial phase with low-power cleaning to cover areas with no leaves, while localizing leaf spots that require high-power cleaning, and a secondary phase focusing on cleaning these detected leaf spots using a high-power cleaning profile. This cleaning profile adaptation enables more efficient and effective cleaning. Simulation results showed a 47% improvement in energy efficiency for the proposed method compared to a method with no cleaning profile adaptation. Robot hardware tests conducted using the Panthera 2.0 outdoor cleaning robot have demonstrated the real-world applicability of the proposed method.

Keywords: outdoor cleaning robots; glasius bio-inspired neural network (GBNN); coverage path planning; embodied AI; adaptive cleaning (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2025
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