Related papers: Graph-based View Motion Planning for Fruit Detecti…
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…
We present PATHoBot an autonomous crop surveying and intervention robot for glasshouse environments. The aim of this platform is to autonomously gather high quality data and also estimate key phenotypic parameters. To achieve this we…
We present a factor graph formulation and particle-based sum-product algorithm for robust localization and tracking in multipath-prone environments. The proposed sequential algorithm jointly estimates the mobile agent's position together…
Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…
Robotic grasping of arbitrary objects even in completely known environments still remains a challenging problem. Most previously developed algorithms had focused on fingertip grasp, failing to solve the problem even for fully actuated…
Sampling-based path planning is a widely used method in robotics, particularly in high-dimensional state space. Among the whole process of the path planning, collision detection is the most time-consuming operation. In this paper, we…
Reliable robotic grasping, especially with deformable objects such as fruits, remains a challenging task due to underactuated contact interactions with a gripper, unknown object dynamics and geometries. In this study, we propose a…
In warehouse and manufacturing environments, manipulation platforms are frequently deployed at conveyor belts to perform pick and place tasks. Because objects on the conveyor belts are moving, robots have limited time to pick them up. This…
In the Detection and Multi-Object Tracking of Sweet Peppers Challenge, we present Track Any Peppers (TAP) - a weakly supervised ensemble technique for sweet peppers tracking. TAP leverages the zero-shot detection capabilities of…
This work proposes a fast heuristic algorithm for the coupled scheduling and trajectory planning of multiple Cartesian robotic arms harvesting fruits. Our method partitions the workspace, assigns fruit-picking sequences to arms, determines…
Efficient motion planning for high-dimensional robotic systems, such as manipulators and mobile manipulators, is critical for real-time operation and reliable deployment. Although advances in planning algorithms have enhanced scalability to…
Greenhouse production of fruits and vegetables in developed countries is challenged by labor 12 scarcity and high labor costs. Robots offer a good solution for sustainable and cost-effective 13 production. Acquiring accurate spatial…
Dormant tree pruning is labor-intensive but essential to maintaining modern highly-productive fruit orchards. In this work we present a closed-loop visuomotor controller for robotic pruning. The controller guides the cutter through a…
Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…
Robotic fruit harvesting often fails to reliably detect whether a fruit has been successfully picked, limiting efficiency and increasing crop damage. This problem is difficult due to compliant fruit and grippers, variable stem attachment,…
We describe a challenging robotics deployment in a complex ecosystem to monitor a rich plant community. The study site is dominated by dynamic grassland vegetation and is thus visually ambiguous and liable to drastic appearance change over…
We present an attention based visual analysis framework to compute grasp-relevant information in order to guide grasp planning using a multi-fingered robotic hand. Our approach uses a computational visual attention model to locate regions…
Plant factory cultivation is widely recognized for its ability to optimize resource use and boost crop yields. To further increase the efficiency in these environments, we propose a mixed-integer linear programming (MILP) framework that…
Automatic photo cropping is an important tool for improving visual quality of digital photos without resorting to tedious manual selection. Traditionally, photo cropping is accomplished by determining the best proposal window through visual…
Interacting with real-world cluttered scenes pose several challenges to robotic agents that need to understand complex spatial dependencies among the observed objects to determine optimal pick sequences or efficient object retrieval…