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Manual pruning is labor intensive and represents up to 25% of annual labor costs in fruit production, notably in apple orchards and vineyards where operational challenges and cost constraints limit the adoption of large-scale machinery. In…
High-resolution yield maps for manually harvested crops are impractical to generate on commercial scales because yield monitors are available only for mechanical harvesters. However, precision crop management relies on accurately…
This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…
Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…
In this paper, we propose an efficient semantic segmentation framework for indoor scenes, tailored to the application on a mobile robot. Semantic segmentation can help robots to gain a reasonable understanding of their environment, but to…
In this paper, a novel prototype for harvesting table-top grown strawberries is presented, that is minimalist in its footprint interacting with the fruit. In our methodology, a smooth trapper manipulates the stem into a precise groove…
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 fields of soft and bio-inspired robotics promise to imbue synthetic systems with capabilities found in the natural world. However, many of these biological capabilities are yet to be realized. For example, vines in nature direct growth…
Robots are increasingly used in tomato greenhouses to automate labour-intensive tasks such as selective harvesting and de-leafing. To perform these tasks, robots must be able to accurately and efficiently perceive the plant nodes that need…
Inspired by recent promising results in sim-to-real transfer in deep learning we built a realistic simulation environment combining a Robot Operating System (ROS)-compatible physics simulator (Gazebo) with Cycles, the realistic production…
Universal grasping of a diverse range of previously unseen objects from heaps is a grand challenge in e-commerce order fulfillment, manufacturing, and home service robotics. Recently, deep learning based grasping approaches have…
We consider the problem of robotic grasping using depth + RGB information sampling from a real sensor. we design an encoder-decoder neural network to predict grasp policy in real time. This method can fuse the advantage of depth image and…
This paper looks into the problem of grasping unknown objects in a cluttered environment using 3D point cloud data obtained from a range or an RGBD sensor. The objective is to identify graspable regions and detect suitable grasp poses from…
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,…
Robotic weed flaming is a new and environmentally friendly approach to weed removal in the agricultural field. Using a mobile manipulator equipped with a flamethrower, we design a new system and algorithm to enable effective weed flaming,…
Containerized vertical farming is a type of vertical farming practice using hydroponics in which plants are grown in vertical layers within a mobile shipping container. Space limitations within shipping containers make the automation of…
Precision agriculture is a fast-growing field that aims at introducing affordable and effective automation into agricultural processes. Nowadays, algorithmic solutions for navigation in vineyards require expensive sensors and high…
Driven by the need to address labor shortages and meet the demands of a rapidly growing population, robotic automation has become a critical component in precision agriculture. Leaf-level hyperspectral spectroscopy is shown to be a powerful…
The problem of robotic lime picking is challenging; lime plants have dense foliage which makes it difficult for a robotic arm to grasp a lime without coming in contact with leaves. Existing approaches either do not consider leaves, or treat…
There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop manipulation remains a difficult…