相关论文: An autonomous robot for pruning modern, planar fru…

Fruit tree image segmentation is an essential problem in automating a variety of agricultural tasks such as phenotyping, harvesting, spraying, and pruning. Many research papers have proposed a diverse spectrum of solutions suitable to…

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…

This study presents a methodology to safely manipulate branches to aid various agricultural tasks. Humans in a real agricultural environment often manipulate branches to perform agricultural tasks effectively, but current agricultural…

This paper presents a novel algorithm, called MRRT, which uses multiple rapidly-exploring random trees for fast online replanning of autonomous vehicles in dynamic environments with moving obstacles. The proposed algorithm is built upon the…

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…

The problem of robotic lime picking is challenging; lime plants have dense foliage which makes it difficult for a robotic arm to grasp a lime without coming in contact with leaves. Existing approaches either do not consider leaves, or treat…

The paper presents an algorithm, called Self-Morphing Adaptive Replanning Tree (SMART), that facilitates fast replanning in dynamic environments. SMART performs risk based tree-pruning if the current path is obstructed by nearby moving…

The cultivation of orchard meadows provides an ecological benefit for biodiversity, which is significantly higher than in intensively cultivated orchards. The goal of this research is to create a tree model to automatically determine…

The potential of tree planting as a natural climate solution is often undermined by inadequate monitoring of tree planting projects. Current monitoring methods involve measuring trees by hand for each species, requiring extensive cost,…

In agricultural robotics, effective observation and localization of fruits present challenges due to occlusions caused by other parts of the tree, such as branches and leaves. These occlusions can result in false fruit localization or…

The US apple industry relies heavily on semi-skilled manual labor force for essential field operations such as training, pruning, blossom and green fruit thinning, and harvesting. Blossom thinning is one of the crucial crop load management…

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…

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…

In this paper, we present the lessons learnt during the development of a new robotic harvester (Harvey) that can autonomously harvest sweet pepper (capsicum) in protected cropping environments. Robotic harvesting offers an attractive…

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…

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…

Using robots to harvest sweet peppers in protected cropping environments has remained unsolved despite considerable effort by the research community over several decades. In this paper, we present the robotic harvester, Harvey, designed for…

Motion Planning is necessary for robots to complete different tasks. Rapidly-exploring Random Tree (RRT) and its variants have been widely used in robot motion planning due to their fast search in state space. However, they perform not well…

Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly. The complexity makes it time consuming. It is an operation that requires about 80-120 hours per hectare annually, making an automated robotic…

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…