Josef Franko, Sivaparvathi Mannem2024-04-082024-04-082024978-3-88579-738-82944-7682https://dl.gi.de/handle/20.500.12116/43881In recent years, there has been extensive research and development in the field of agricultural robots. The AgriPV-Bot is a multipurpose field robot to perform selective cultivation in market gardening. However, the cultivation of mixed vegetables in occluded sceneries where not all features are perceptible from top-down perspective poses a challenge especially in spot-farming applications. Therefore, this paper proposes a sweeping motion approach based on 3D visual servoing to utilize multiple view angles to effectively address this challenge. The approach is evaluated both in a simulation and real-world environment.en3D visual servoingocclude vegetable scenesharvesting robotsfull farmingmarket gardeningautomationText/Conference Paper10.18420/giljt2024_471617-5468