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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…
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…
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…
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 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…
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…
As global demand for fruits and vegetables continues to rise, the agricultural industry faces challenges in securing adequate labor. Robotic harvesting devices offer a promising solution to solve this issue. However, harvesting delicate…
Selective robotic harvesting is a promising technological solution to address labour shortages which are affecting modern agriculture in many parts of the world. For an accurate and efficient picking process, a robotic harvester requires…
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,…
Global berry production and consumption have significantly increased in recent years, coinciding with increased consumer awareness of the health-promoting benefits of berries. Among them, fresh market blackberries and raspberries are…
Growing global demand for food, coupled with continuing labor shortages, motivates the need for automated agricultural harvesting. While some specialty crops (e.g., apples, peaches, blueberries) can be harvested via existing harvesting…
Continuous harvesting and storage of multiple fruits in a single operation allow robots to significantly reduce the travel distance required for repetitive back-and-forth movements. Traditional collision-free path planning algorithms, such…
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…
This study presents a closed-loop robotic strawberry harvesting system that combines a robust vision module, simulation-trained deep reinforcement learning (DRL) control, and ROS-based realrobot execution. For perception, we propose…
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 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…
Manual fruit harvesting is common in agriculture, but the amount of time pickers spend on non-productive activities can make it very inefficient. Accurately identifying picking vs. non-picking activity is crucial for estimating picker…
Robotic harvesting of strawberries has gained much interest in the recent past. Although there are many innovations, they haven't yet reached a level that is comparable to an expert human picker. The end effector unit plays a major role in…
Selective harvesting by autonomous robots will be a critical enabling technology for future farming. Increases in inflation and shortages of skilled labour are driving factors that can help encourage user acceptability of robotic…
Automated and selective harvesting of fruits has become an important area of research, particularly due to challenges such as high costs and a shortage of seasonal labor in advanced economies. This paper focuses on 6D pose estimation of…