相关论文: A Sweet Pepper Harvesting Robot for Protected Crop…
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…
Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…
One major recurring challenge in deploying manipulation robots is determining the optimal placement of manipulators to maximize performance. This challenge is exacerbated in complex, cluttered agricultural environments of high-value crops,…
Detection, segmentation and tracking of fruits and vegetables are three fundamental tasks for precision agriculture, enabling robotic harvesting and yield estimation applications. However, modern algorithms are data hungry and it is not…
Autonomous harvesting may provide a viable solution to mounting labor pressures in the United States's strawberry industry. However, due to bottlenecks in machine perception and economic viability, a profitable and commercially adopted…
Forestry plays a vital role in our society, creating significant ecological, economic, and recreational value. Efficient forest management involves labor-intensive and complex operations. One essential task for maintaining forest health and…
This paper presents a novel metric to evaluate the robustness of deep learning based semantic segmentation approaches for crop row detection under different field conditions encountered by a field robot. A dataset with ten main categories…
The global demand for medicinal plants, such as Damask roses, has surged with population growth, yet labor-intensive harvesting remains a bottleneck for scalability. To address this, we propose a novel 3D perception pipeline tailored for…
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)…
Mobile robots will play a crucial role in the transition towards sustainable agriculture. To autonomously and effectively monitor the state of plants, robots ought to be equipped with visual perception capabilities that are robust to the…
We present PATHoBot an autonomous crop surveying and intervention robot for glasshouse environments. The aim of this platform is to autonomously gather high quality data and also estimate key phenotypic parameters. To achieve this we…
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…
Automating leaf manipulation in agricultural settings faces significant challenges, including the variability of plant morphologies and deformable leaves. We propose a novel hybrid geometric-neural approach for autonomous leaf grasping that…
Autonomous navigation in agricultural environments is challenged by varying field conditions that arise in arable fields. State-of-the-art solutions for autonomous navigation in such environments require expensive hardware such as RTK-GNSS.…
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…
Given the task of learning robotic grasping solely based on a depth camera input and gripper force feedback, we derive a learning algorithm from an applied point of view to significantly reduce the amount of required training data. Major…
Reducing the use of agrochemicals is an important component towards sustainable agriculture. Robots that can perform targeted weed control offer the potential to contribute to this goal, for example, through specialized weeding actions such…
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…
Selective fruit harvesting is a challenging manipulation problem due to occlusions and clutter arising from plant foliage. A harvesting gripper should i) have a small cross-section, to avoid collisions while approaching the fruit; ii) have…
Growing global demand for food, coupled with continuing labor shortages, motivates the need for automated agricultural harvesting. While some specialty crops (e.g., apples, peaches, blueberries) can be harvested via existing harvesting…