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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…

Following a global trend, the lack of reliable access to skilled labour is causing critical issues for the effective management of apple orchards. One of the primary challenges is maintaining skilled human operators capable of making…

This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest…

Dormant pruning, or the removal of unproductive portions of a tree while a tree is not actively growing, is an important orchard task to help maintain yield, requiring years to build expertise. Because of long training periods and an…

Within the context of optimising the logistics in agriculture this paper relates to optimal in-field routing for full and partial field coverage with arbitrary non-convex fields and multiple obstacle areas. It is distinguished between nine…

For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal prediction to a one-time inference. However, in real-world…

The increasing labor costs in agriculture have accelerated the adoption of multi-robot systems for orchard harvesting. However, efficiently coordinating these systems is challenging due to the complex interplay between makespan and energy…

This paper presents a novel reinforcement learning (RL)-based planning scheme for optimized robotic management of biotic stresses in precision agriculture. The framework employs a hierarchical decision-making structure with conditional…

Robotic fruit harvesting holds potential in precision agriculture to improve harvesting efficiency. While ground mobile robots are mostly employed in fruit harvesting, certain crops, like avocado trees, cannot be harvested efficiently from…

Humans can ground natural language commands to tasks at both abstract and fine-grained levels of specificity. For instance, a human forklift operator can be instructed to perform a high-level action, like "grab a pallet" or a low-level…

Robotic pollination offers a promising alternative to manual labor and bumblebee-assisted methods in controlled agriculture, where wind-driven pollination is absent and regulatory restrictions limit the use of commercial pollinators. In…

Automation applications are pushing the deployment of many high DoF manipulators in warehouse and manufacturing environments. This has motivated many efforts on optimizing manipulation tasks involving a single arm. Coordinating multiple…

Achieving long term autonomy of robots operating in dynamic environments such as farms remains a significant challenge. Arguably, the most demanding factors to achieve this are the on-board resource constraints such as energy, planning in…

Automating complex tasks using robotic systems requires skills for planning, control and execution. This paper proposes a complete robotic system for maintenance automation, which can automate disassembly and assembly operations under…

This work presents an approach to learn path planning for robot social navigation by demonstration. We make use of Fully Convolutional Neural Networks (FCNs) to learn from expert's path demonstrations a map that marks a feasible path to the…

In teleoperation, research has mainly focused on target approaching, where we deal with the more challenging object manipulation task by advancing the shared control technique. Appropriately manipulating an object is challenging due to the…

In the robotic crop harvesting environment, foreign objects intrusion in the gripper workspace is frequently occurring and unignorable, however, rarely addressed. This paper presents a novel intelligent robotic grasping method capable of…

Rapidly-exploring random trees (RRTs) have been widely adopted for robot motion planning due to their robustness and theoretical guarantees. However, existing RRT-based planners require explicit goal configurations specified as numerical…

Robot manipulation in a physically-constrained environment requires compliant manipulation. Compliant manipulation is a manipulation skill to adjust hand motion based on the force imposed by the environment. Recently, reinforcement learning…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…