7 accepted papers
Physical interaction tasks within dense foliage such as leaf pruning and fruit harvesting are current challenges for agricultural robotics. This is due to the cluttered and unstructured environment these tasks are conducted within, complex stem structures providing a number of obstacles that obscure
The world population is increasing and will, by 2050, nearly double its demand for food, feed, fuel, and fiber. Besides environmental challenges, labor shortage also poses crucial challenges to the agricultural production system. Automation of manual tasks in crop production can potentially increase
We present a reactive base control method that enables high performance mobile manipulation on-the-move in real-world environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can significantly decrease the time required to perform multi-st
We present a generalised architecture for reactive mobile manipulation while a robot's base is in motion toward the next objective in a high-level task. By performing tasks on-the-move, overall cycle time is reduced compared to methods where the base pauses during manipulation. Reactive control of t…
This paper presents the development of a simulation for dynamic plant models, generated from L-system functional models. A key application of these dynamic plant models is to aid in developing new methods for robotic manipulation of plants that minimize damage due to physical interaction. We present…
This paper introduces DGBench, a fully reproducible open-source testing system to enable benchmarking of dynamic grasping in environments with unpredictable relative motion between robot and object. We use the proposed benchmark to compare several visual perception arrangements. Traditional percepti…
In this paper we present a novel approach termed 3D Move to See (3DMTS) which is based on the principle of finding the next best view using a 3D camera array and a robotic manipulator to obtain multiple samples of the scene from different perspectives. Distinct from traditional visual servoing and n…