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Dormant season grapevine pruning requires skilled seasonal workers during the winter season which are becoming less available. As workers hasten to prune more vines in less time amid to the short-term seasonal hiring culture and low wages,…
Semantic segmentation enables robots to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown environments,…
In precision agriculture, detecting productive crop fields is an essential practice that allows the farmer to evaluate operating performance separately and compare different seed varieties, pesticides, and fertilizers. However, manually…
As the agricultural workforce declines and labor costs rise, robotic yield estimation has become increasingly important. While unmanned ground vehicles (UGVs) are commonly used for indoor farm monitoring, their deployment in greenhouses is…
Suction cups are an important gripper type in industrial robot applications, and prior literature focuses on using vision-based planners to improve grasping success in these tasks. Vision-based planners can fail due to adversarial objects…
In this work, we employ multiple energy harvesting relays to assist information transmission from a multi-antenna hybrid access point (HAP) to a receiver. All the relays are wirelessly powered by the HAP in the power-splitting (PS)…
The land used for grazing cattle takes up about one-third of the land in the United States. These areas can be highly rugged. Yet, they need to be maintained to prevent weeds from taking over the nutritious grassland. This can be a daunting…
The livestock industry faces several challenges, including labor-intensive management, the threat of predators and environmental sustainability concerns. Therefore, this paper explores the integration of quadruped robots in extensive…
Autonomous aerial harvesting is a highly complex problem because it requires numerous interdisciplinary algorithms to be executed on mini low-powered computing devices. Object detection is one such algorithm that is compute-hungry. In this…
Future food security is a major concern of the 21st century with the growing global population and climate changes. In addressing these challenges, protected cropping ensures food production year-round and increases crop production per land…
Machine learning has been successful in building control policies to drive a complex system to desired states in various applications (e.g. games, robotics, etc.). To be specific, a number of parameters of policy can be automatically…
Monitoring crop fields to map features like weeds can be efficiently performed with unmanned aerial vehicles (UAVs) that can cover large areas in a short time due to their privileged perspective and motion speed. However, the need for…
Selectively picking a target fruit surrounded by obstacles is one of the major challenges for fruit harvesting robots. Different from traditional obstacle avoidance methods, this paper presents an active obstacle separation strategy that…
We present a research picking prototype related to our company's industrial waste sorting application. The goal of the prototype is to be as autonomous as possible and it both calibrates itself and improves its picking with minimal human…
To realize a robust robotic grasping system for unknown objects in an unstructured environment, large amounts of grasp data and 3D model data for the object are required, the sizes of which directly affect the rate of successful grasps. To…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
Effective pollination is a key challenge for indoor farming, since bees struggle to navigate without the sun. While a variety of robotic system solutions have been proposed, it remains difficult to autonomously check that a flower has been…
Vision perception and modelling are the essential tasks of robotic harvesting in the unstructured orchard. This paper develops a framework of visual perception and modelling for robotic harvesting of fruits in the orchard environments. The…
Robotic pollination offers a promising alternative to manual labor and bumblebee-assisted methods in controlled agriculture, where wind-driven pollination is absent and regulatory restrictions limit the use of commercial pollinators. In…
Cotton is a major cash crop in the United States, with the country being a leading global producer and exporter. Nearly all U.S. cotton is grown in the Cotton Belt, spanning 17 states in the southern region. Harvesting remains a critical…