相关论文: Towards vision-based dual arm robotic fruit harves…
The agricultural sector is rapidly evolving to meet growing global food demands, yet tasks like fruit and vegetable handling remain labor-intensive, causing inefficiencies and post-harvest losses. Automation, particularly selective…
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…
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…
Robotic harvesting of fruits in orchards is a challenging task, since high density and overlapping of fruits and branches can heavily impact the success rate of robotic harvesting. Therefore, the vision system is demanded to provide…
This paper presents a novel robot vision architecture for perceiving generic 3D clothes configurations. Our architecture is hierarchically structured, starting from low-level curvatures, across mid-level geometric shapes \& topology…
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…
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,…
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…
Autonomous dual-arm manipulation is an essential skill to deploy robots in unstructured scenarios. However, this is a challenging undertaking, particularly in terms of perception and planning. Unstructured scenarios are full of objects with…
Learning from Demonstration offers great potential for robots to learn to perform agricultural tasks, specifically selective harvesting. One of the challenges is that the target fruit can be oscillating while approaching. Grasping…
The swiftly expanding retail sector is increasingly adopting autonomous mobile robots empowered by artificial intelligence and machine learning algorithms to gain an edge in the competitive market. However, these autonomous robots encounter…
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…
Blackberry harvesting is a labor-intensive and costly process, consuming up to 50\% of the total annual crop hours. This paper presents a solution for robotic harvesting through the design, manufacturing, integration, and control of a…
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…
Manual pruning is labor intensive and represents up to 25% of annual labor costs in fruit production, notably in apple orchards and vineyards where operational challenges and cost constraints limit the adoption of large-scale machinery. In…
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…
Comprehensive perception of human beings is the prerequisite to ensure the safety of human-robot interaction. Currently, prevailing visual sensing approach typically involves a single static camera, resulting in a restricted and occluded…
Quadruped robots are increasingly used in various applications due to their high mobility and ability to operate in diverse terrains. However, most available quadruped robots are primarily focused on mobility without object manipulation…
Containerized vertical farming is a type of vertical farming practice using hydroponics in which plants are grown in vertical layers within a mobile shipping container. Space limitations within shipping containers make the automation of…
Fruit harvesting poses a significant labor and financial burden for the industry, highlighting the critical need for advancements in robotic harvesting solutions. Machine vision-based fruit detection has been recognized as a crucial…