相关论文: Autonomous Sweet Pepper Harvesting for Protected C…
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…
Robot-assisted fruit harvesting has been a critical research direction supporting sustainable crop production. One important determinant of system behavior and efficiency is the end-effector that comes in direct contact with the crop during…
This paper presents the challenges agricultural robotic harvesters face in detecting and localising fruits under various environmental disturbances. In controlled laboratory settings, both the traditional HSV (Hue Saturation Value)…
This project aims to develop and demonstrate a ground robot with intelligence capable of conducting semi-autonomous farm operations for different low-heights vegetable crops referred as Agriculture Application Robot(AAR). AAR is a…
There is a growing need for robotic apple harvesting due to decreasing availability and rising cost in labor. Towards the goal of developing a viable robotic system for apple harvesting, this paper presents synergistic mechatronic design…
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…
Training robot manipulation policies is a challenging and open problem in robotics and artificial intelligence. In this paper we propose a novel and compact state representation based on the rewards predicted from an image-based task…
Mobile robots are increasingly utilized in agriculture to automate labor-intensive tasks such as weeding, sowing, harvesting and soil analysis. Recently, agricultural robots have been developed to detect and remove weeds using mechanical…
T-Rex (The Robot for Extracting Leaf Samples) is a gantry-based robotic system developed for autonomous leaf localization, selection, and grasping in greenhouse environments. The system integrates a 6-degree-of-freedom manipulator with a…
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…
Robots have revolutionized our way of life in recent years.One of the domains that has not yet completely benefited from the robotic automation is the agricultural sector. Agricultural Robotics should complement humans in the arduous tasks…
Accurate localisation of crop remains highly challenging in unstructured environments such as farms. Many of the developed systems still rely on the use of hand selected features for crop identification and often neglect the estimation of…
In this research, a fully neural network based visual perception framework for autonomous apple harvesting is proposed. The proposed framework includes a multi-function neural network for fruit recognition and a Pointnet grasp estimation to…
A core component of the recent success of self-supervised learning is cropping data augmentation, which selects sub-regions of an image to be used as positive views in the self-supervised loss. The underlying assumption is that randomly…
In precision agriculture, the scarcity of labeled data and significant covariate shifts pose unique challenges for training machine learning models. This scarcity is particularly problematic due to the dynamic nature of the environment and…
We present a general framework for accurate positioning of sensors and end effectors in farm settings using a camera mounted on a robotic manipulator. Our main contribution is a visual servoing approach based on a new and robust feature…
The application of autonomous robots in agriculture is gaining increasing popularity thanks to the high impact it may have on food security, sustainability, resource use efficiency, reduction of chemical treatments, and the optimization of…
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…
Robots are increasingly being deployed in agriculture to support sustainable practices and improve productivity. They offer strong potential to enable precise, efficient, and environmentally friendly operations. However, most existing…
Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…