Related papers: Algorithm Design and Integration for a Robotic App…
In agricultural robotics, effective observation and localization of fruits present challenges due to occlusions caused by other parts of the tree, such as branches and leaves. These occlusions can result in false fruit localization or…
Robotic tree pruning requires highly precise manipulator control in order to accurately align a cutting implement with the desired pruning point at the correct angle. Simultaneously, the robot must avoid applying excessive force to rigid…
In response to the growing challenges of manual labor and efficiency in warehouse operations, Amazon has embarked on a significant transformation by incorporating robotics to assist with various tasks. While a substantial number of robots…
The agricultural sector is rapidly evolving to meet growing global food demands, yet tasks like fruit and vegetable handling remain labor-intensive, causing inefficiencies and post-harvest losses. Automation, particularly selective…
In this study, we introduce a deep-learning approach for determining both the 6DoF pose and 3D size of strawberries, aiming to significantly augment robotic harvesting efficiency. Our model was trained on a synthetic strawberry dataset,…
Occlusion remains a critical challenge in robotic fruit harvesting, as undetected or inaccurately localised fruits often results in substantial crop losses. To mitigate this issue, we propose a harvesting framework using a new amodal…
Dormant pruning of fruit trees is an important task for maintaining tree health and ensuring high-quality fruit. Due to decreasing labor availability, pruning is a prime candidate for robotic automation. However, pruning also represents a…
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…
This paper presents a novel cable-driven gripper with perception capabilities for autonomous harvesting of strawberries. Experiments show that the gripper allows for more accurate and faster picking of strawberries compared to existing…
In this work, a simple vision algorithm is designed and implemented to extract and identify the surface defects on the Golden Delicious apples caused by the enzymic browning process. 34 Golden Delicious apples were selected for the…
Fruit harvesting remains predominantly a labor-intensive process, motivating the development of research for robotic grippers. Conventional rigid or vacuum-driven grippers require complex mechanical design or high energy consumption.…
In this paper, a novel tool prototype for harvesting table-top grown strawberries is presented. With robustness against strawberry localization error of 15mm and average cycle time of 8.02 seconds at 50% of maximum operational velocity, it…
Ground vehicles equipped with monocular vision systems are a valuable source of high resolution image data for precision agriculture applications in orchards. This paper presents an image processing framework for fruit detection and…
Learning from Demonstration offers great potential for robots to learn to perform agricultural tasks, specifically selective harvesting. One of the challenges is that the target fruit can be oscillating while approaching. Grasping…
Accurate recognition of food items along with quality assessment is of paramount importance in the agricultural industry. Such automated systems can speed up the wheel of the food processing sector and save tons of manual labor. In this…
Monitoring orchards at the individual tree or fruit level throughout the growth season is crucial for plant phenotyping and horticultural resource optimization, such as chemical use and yield estimation. We present a 4D spatio-temporal…
In robotic fruit picking applications, managing object occlusion in unstructured settings poses a substantial challenge for designing grasping algorithms. Using strawberry harvesting as a case study, we present an end-to-end framework for…
This paper presents the challenges agricultural robotic harvesters face in detecting and localising fruits under various environmental disturbances. In controlled laboratory settings, both the traditional HSV (Hue Saturation Value)…
Grasping is the process of picking up an object by applying forces and torques at a set of contacts. Recent advances in deep-learning methods have allowed rapid progress in robotic object grasping. In this systematic review, we surveyed the…
Strawberries naturally grow in clusters, interwoven with leaves, stems, and other fruits, which frequently leads to occlusion. This inherent growth habit presents a significant challenge for robotic picking, as traditional…