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As technology progresses, smart automated systems will serve an increasingly important role in the agricultural industry. Current existing vision systems for yield estimation face difficulties in occlusion and scalability as they utilize a…
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…
Current agriculture and farming industries are able to reap advancements in robotics and automation technology to harvest fruits and vegetables using robots with adaptive grasping forces based on the compliance or softness of the fruit or…
Vision perception and modelling are the essential tasks of robotic harvesting in the unstructured orchard. This paper develops a framework of visual perception and modelling for robotic harvesting of fruits in the orchard environments. The…
This paper presents an autonomous tomato-harvesting system built around a hybrid robotic gripper that combines six soft auxetic fingers with a rigid exoskeleton and a latex basket to achieve gentle, cage-like grasping. The gripper is driven…
Due to labor shortage and rising labor cost for the apple industry, there is an urgent need for the development of robotic systems to efficiently and autonomously harvest apples. In this paper, we present a system overview and algorithm…
Accurate depth-sensing plays a crucial role in securing a high success rate of robotic harvesting in natural orchard environments. Solid-state LiDAR (SSL), a recently introduced LiDAR technique, can perceive high-resolution geometric…
Many automated operations in agriculture, such as weeding and plant counting, require robust and accurate object detectors. Robotic fruit harvesting is one of these, and is an important technology to address the increasing labour shortages…
Currently, truss tomato weighing and packaging require significant manual work. The main obstacle to automation lies in the difficulty of developing a reliable robotic grasping system for already harvested trusses. We propose a method to…
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…
Apples are among the most widely consumed fruits worldwide. Currently, apple harvesting fully relies on manual labor, which is costly, drudging, and hazardous to workers. Hence, robotic harvesting has attracted increasing attention in…
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…
In this paper, we present the lessons learnt during the development of a new robotic harvester (Harvey) that can autonomously harvest sweet pepper (capsicum) in protected cropping environments. Robotic harvesting offers an attractive…
Effective and efficient agricultural manipulation and harvesting depend on accurately understanding the current state of the grasp. The agricultural environment presents unique challenges due to its complexity, clutter, and occlusion.…
The ability to accurately represent and localise relevant objects is essential for robots to carry out tasks effectively. Traditional approaches, where robots simply capture an image, process that image to take an action, and then forget…
In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…
The automation of fruit harvesting has gained increasing significance in response to rising labor shortages. A sensorized gripper is a key component of this process, which must be compact enough for confined spaces, able to stably grasp…
Confinement during COVID-19 has caused serious effects on agriculture all over the world. As one of the efficient solutions, mechanical harvest/auto-harvest that is based on object detection and robotic harvester becomes an urgent need.…
We present an end-to-end computer vision system for mapping yield in an apple orchard using images captured from a single camera. Our proposed system is platform independent and does not require any specific lighting conditions. Our main…
Field robotic harvesting is a promising technique in recent development of agricultural industry. It is vital for robots to recognise and localise fruits before the harvesting in natural orchards. However, the workspace of harvesting robots…