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Auflistung nach Schlagwort "agricultural robotics"

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  • Konferenzbeitrag
    Overview of control systems for robotic harvesting of sweet peppers and apples
    (43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme, 2023) Shokrian Zeini, Mostafa; Shamshiri, Redmond R.; Dworak, Volker; Käthner, Jana; Höfner, Nora; Navas, Eduardo; Weltzien, Cornelia
    Automated harvesting systems are becoming a crucial part of digital agriculture. Substituting time-consuming and laborious manual harvesting with a continuously automated operation would result in reduced human efforts, which contribute to higher field efficiency. This could be achieved by means of robotic harvesting which comprises robot manipulators, gripping and grasping mechanisms, software implementations. However, the inadequate design of control strategies could cause the agricultural production loss. This paper reviews some of the latest achievements in control systems of agricultural robotics and more specifically in robotic harvesting. The employed robot arms, their degrees of freedom (DOF), and the crops are also considered in this review study. While the control algorithms are being developed with high robustness and fast-response properties, our conclusion is that the performance of controllers could be drastically affected by different parameters such as the number of DOF, estimation accuracy of the robot pose during visual servoing and failure of robot’s inverse kinematics solver.
  • Konferenzbeitrag
    An overview of visual servoing for robotic manipulators in digital agriculture
    (43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme, 2023) Shamshiri, Redmond R; Dworak, Volker; ShokrianZeini, Mostafa; Navas, Eduardo; Käthner, Jana; Höfner, Nora; Weltzien, Cornelia
    Innovations in terms of robotic manipulator control in digital agriculture have advanced considerably in the last decade with the aim of reducing costs and increasing efficiencies. The availability of compact imaging sensors such as digital cameras that can perceive depth information besides the flexibility of open-source image processing software that can be trained for different applications has played significant roles in accelerating this sector. Preliminary studies have shown that the majority of available robot manipulators in agriculture are using Image-Based Visual Servo (IBVS) control to reach a target position. The presented study provides an overview of different redundant manipulators that are controlled by means of visual servoing for automating various field tasks in digital agriculture including (i) pruning, thinning, and trimming, (ii) harvesting, and (iii) inspection and target spraying. The reviewed works suggest that developing optimal tree shapes and planting techniques is necessary to improve the performance of visual servo control and automate farming operations with robots. In addition, selection of the right imaging sensors, graphics processing units, and training of the computer vision algorithms with more fruits and plants datasets have been highlighted as the three main elements for improving the functionality of IBVS in manipulator control for agricultural applications.
  • Konferenzbeitrag
    A systematic approach to the development of long-term autonomous robotic systems for agriculture
    (43. GIL-Jahrestagung, Resiliente Agri-Food-Systeme, 2023) Bohne, Tim; Parthasarathy, Gurunatraj; Kisliuk, Benjamin
    For robots to compete with conventional machinery in agriculture, improving their long-term autonomy seems necessary. In this article, we provide concepts and intermediate results of our work aimed at a long-term autonomous robotic system performing a plant monitoring task. Based on notions from literature, we introduce a structured approach to defining long-term autonomy and report on the system we develop that meets this definition in practical experiments. Finally, we present intermediate results from simulation and discuss further avenues of research.