相关论文: Precision fruit tree pruning using a learned hybri…
Dormant tree pruning is labor-intensive but essential to maintaining modern highly-productive fruit orchards. In this work we present a closed-loop visuomotor controller for robotic pruning. The controller guides the cutter through a…
This study presents a vision-guided robotic control system for automated fruit tree pruning applications. Traditional pruning practices are labor-intensive and limit agricultural efficiency and scalability, highlighting the need for…
Dormant pruning of fruit trees is an important task for maintaining tree health and ensuring high-quality fruit. Due to decreasing labor availability, pruning is a prime candidate for robotic automation. However, pruning also represents a…
Pruning is an essential agricultural practice for orchards. Proper pruning can promote healthier growth and optimize fruit production throughout the orchard's lifespan. Robot manipulators have been developed as an automated solution for…
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…
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,…
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…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
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…
Bio-hybrid systems---close couplings of natural organisms with technology---are high potential and still underexplored. In existing work, robots have mostly influenced group behaviors of animals. We explore the possibilities of mixing…
We present a novel approach for robust manipulation of high-DOF deformable objects such as cloth. Our approach uses a random forest-based controller that maps the observed visual features of the cloth to an optimal control action of the…
Contact-rich manipulation tasks in agriculture, such as pruning and harvesting, require robots to physically interact with tree structures to maneuver through cluttered foliage. Identifying whether the robot is contacting rigid or soft…
In fruit tree growth, pruning is an important management practice for preventing overcrowding, improving canopy access to light and promoting regrowth. Due to the slow nature of agriculture, decisions in pruning are typically made using…
Modelling of contact-rich tasks is challenging and cannot be entirely solved using classical control approaches due to the difficulty of constructing an analytic description of the contact dynamics. Additionally, in a manipulation task like…
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…
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…
Pruning is the art of cutting unwanted and unhealthy plant branches and is one of the difficult tasks in the field robotics. It becomes even more complex when the plant branches are moving. Moreover, the reproducibility of robot pruning…
Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and…
This paper proposes a variable flow control system in real time with deep learning using the segmentation of fruit trees in a pear orchard. The flow rate control in real time, undesired pressure fluctuation and theoretical modeling may…