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In this letter, we present a new robotic harvester (Harvey) that can autonomously harvest sweet pepper in protected cropping environments. Our approach combines effective vision algorithms with a novel end-effector design to enable…
Using robots to harvest sweet peppers in protected cropping environments has remained unsolved despite considerable effort by the research community over several decades. In this paper, we present the robotic harvester, Harvey, designed for…
Automating tasks in outdoor agricultural fields poses significant challenges due to environmental variability, unstructured terrain, and diverse crop characteristics. We present a robotic system for autonomous pepper harvesting designed to…
This paper presents a comprehensive review of ground agricultural robotic systems and applications with special focus on harvesting that span research and commercial products and results, as well as their enabling technologies. The majority…
Robotic harvesting of crops has the potential to disrupt current agricultural practices. A key element to enabling robotic harvesting is to safely remove the crop from the plant which often involves locating and cutting the peduncle, the…
Horticultural tasks such as pruning and selective harvesting are labor intensive and horticultural staff are hard to find. Automating these tasks is challenging due to the semi-structured greenhouse workspaces, changing environmental…
In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…
This paper presents an autonomous tomato-harvesting system built around a hybrid robotic gripper that combines six soft auxetic fingers with a rigid exoskeleton and a latex basket to achieve gentle, cage-like grasping. The gripper is driven…
Current agriculture and farming industries are able to reap advancements in robotics and automation technology to harvest fruits and vegetables using robots with adaptive grasping forces based on the compliance or softness of the fruit or…
Agricultural robotics has emerged as a critical solution to the labor shortages and rising costs associated with manual crop harvesting. Bell pepper harvesting, in particular, is a labor-intensive task, accounting for up to 50% of total…
This paper presents a 3D visual detection method for the challenging task of detecting peduncles of sweet peppers (Capsicum annuum) in the field. Cutting the peduncle cleanly is one of the most difficult stages of the harvesting process,…
Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…
This paper provides an overview of the current state-of-the-art in selective harvesting robots (SHRs) and their potential for addressing the challenges of global food production. SHRs have the potential to increase productivity, reduce…
Agriculture remains a cornerstone of global health and economic sustainability, yet labor-intensive tasks such as harvesting high-value crops continue to face growing workforce shortages. Robotic harvesting systems offer a promising…
Mechanizing the manual harvesting of fresh market fruits constitutes one of the biggest challenges to the sustainability of the fruit industry. During manual harvesting of some fresh-market crops like strawberries and table grapes, pickers…
Crop monitoring is crucial for maximizing agricultural productivity and efficiency. However, monitoring large and complex structures such as sweet pepper plants presents significant challenges, especially due to frequent occlusions of the…
The human labour required for tree crop harvesting is a major cost component in fruit production and is increasing. To address this, many existing research works have sought to demonstrate commercially viable robotic harvesting for tree…
This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest…
Accurate localisation of crop remains highly challenging in unstructured environments such as farms. Many of the developed systems still rely on the use of hand selected features for crop identification and often neglect the estimation of…
Challenges in strawberry picking made selective harvesting robotic technology demanding. However, selective harvesting of strawberries is complicated forming a few scientific research questions. Most available solutions only deal with a…