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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…
In the last years, unmanned aerial vehicles are becoming a reality in the context of precision agriculture, mainly for monitoring, patrolling and remote sensing tasks, but also for 3D map reconstruction. In this paper, we present an…
Book chapter that summarizes recent research on agricultural robotics in orchard management, including Robotic pruning, Robotic thinning, Robotic spraying, Robotic harvesting, Robotic fruit transportation, and future trends.
Vision transformer has achieved competitive performance on a variety of computer vision applications. However, their storage, run-time memory, and computational demands are hindering the deployment to mobile devices. Here we present a…
Crop monitoring is crucial for maximizing agricultural productivity and efficiency. However, monitoring large and complex structures such as sweet pepper plants presents significant challenges, especially due to frequent occlusions of the…
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…
This research presents a novel, robotic pollination system designed for targeted pollination of apple flowers in modern fruiting wall orchards. Developed in response to the challenges of global colony collapse disorder, climate change, and…
We present an autonomous aerial system for safe and efficient through-the-canopy fruit counting. Aerial robot applications in large-scale orchards face significant challenges due to the complexity of fine-tuning flight paths based on…
Modern orchards are planted in structured rows with distinct panel divisions to improve management. Accurate and efficient joint segmentation of point cloud from Panel to Tree and Branch (P2TB) is essential for robotic operations. However,…
Neural networks grow vastly in size to tackle more sophisticated tasks. In many cases, such large networks are not deployable on particular hardware and need to be reduced in size. Pruning techniques help to shrink deep neural networks to…
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…
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…
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…
The human labour required for tree crop harvesting is a major cost component in fruit production and is increasing. To address this, many existing research works have sought to demonstrate commercially viable robotic harvesting for tree…
This paper proposes anchor pruning for object detection in one-stage anchor-based detectors. While pruning techniques are widely used to reduce the computational cost of convolutional neural networks, they tend to focus on optimizing the…
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…
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…
Vision Transformers (ViTs) have emerged as the backbone of many segmentation models, consistently achieving state-of-the-art (SOTA) performance. However, their success comes at a significant computational cost. Image token pruning is one of…
There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop manipulation remains a difficult…
Fruit distribution is pivotal in shaping the future of both agriculture and agricultural robotics, paving the way for a streamlined supply chain. This study introduces an innovative methodology that harnesses the synergy of RGB imagery,…