Related papers: Towards Safe and Efficient Through-the-Canopy Auto…
Fruit monitoring plays an important role in crop management, and rising global fruit consumption combined with labor shortages necessitates automated monitoring with robots. However, occlusions from plant foliage often hinder accurate shape…
This paper presents a motion-coupled mapping algorithm for contour mapping of hybrid rice canopies, specifically designed for Agricultural Unmanned Ground Vehicles (Agri-UGV) navigating complex and unknown rice fields. Precise canopy…
Drones are increasingly used in forestry to capture high-resolution remote sensing data, supporting enhanced monitoring, assessment, and decision-making processes. While operations above the forest canopy are already highly automated,…
Autonomous crop monitoring is a difficult task due to the complex structure of plants. Occlusions from leaves can make it impossible to obtain complete views about all fruits of, e.g., pepper plants. Therefore, accurately estimating the…
Crop yield estimation is a relevant problem in agriculture, because an accurate yield estimate can support farmers' decisions on harvesting or precision intervention. Robots can help to automate this process. To do so, they need to be able…
Semantic maps represent the environment using a set of semantically meaningful objects. This representation is storage-efficient, less ambiguous, and more informative, thus facilitating large-scale autonomy and the acquisition of actionable…
Autonomous navigation of a robot in agricultural fields is essential for every task from crop monitoring to weed management and fertilizer application. Many current approaches rely on accurate GPS, however, such technology is expensive and…
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…
Forests offer essential resources and services to humanity, yet preserving and restoring them presents challenges, particularly due to the limited availability of actionable data, especially in hard-to-reach areas like forest canopies.…
Aotearoa New Zealand has a strong and growing apple industry but struggles to access workers to complete skilled, seasonal tasks such as thinning. To ensure effective thinning and make informed decisions on a per-tree basis, it is crucial…
We present a novel fruit counting pipeline that combines deep segmentation, frame to frame tracking, and 3D localization to accurately count visible fruits across a sequence of images. Our pipeline works on image streams from a monocular…
Under-canopy agricultural robots can enable various applications like precise monitoring, spraying, weeding, and plant manipulation tasks throughout the growing season. Autonomous navigation under the canopy is challenging due to the…
The techniques of precision agriculture include the possibility to execute crop monitoring tasks through the application of Unmanned Aerial Vehicles (UAVs). These platforms are flexible, easy to use and low-cost, and they are the best…
Obtaining 3D sensor data of complete plants or plant parts (e.g., the crop or fruit) is difficult due to their complex structure and a high degree of occlusion. However, especially for the estimation of the position and size of fruits, it…
The adoption of mobile robotic platforms in complex environments, such as agricultural settings, requires these systems to exhibit a flexible yet effective architecture that integrates perception and control. In such scenarios, several…
We present a multi-robot system for GPS-denied search and rescue under the forest canopy. Forests are particularly challenging environments for collaborative exploration and mapping, in large part due to the existence of severe perceptual…
Interest in agricultural robotics has increased considerably in recent years due to benefits such as improvement in productivity and labor reduction. However, current problems associated with unstructured environments make the development…
This paper addresses the challenge of developing a multi-arm quadrupedal robot capable of efficiently harvesting fruit in complex, natural environments. To overcome the inherent limitations of traditional bimanual manipulation, we introduce…
In this paper, we present a comprehensive UAV system design to perform the highly complex task of off-centered aerial grasping. This task has several interdisciplinary research challenges which need to be addressed at once. The main design…
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…