利用异构自主机器人进行葡萄收获合作

IF 2.9 Q2 ROBOTICS
Robotics Pub Date : 2023-10-28 DOI:10.3390/robotics12060147
Chris Lytridis, Christos Bazinas, Ioannis Kalathas, George Siavalas, Christos Tsakmakis, Theodoros Spirantis, Eftichia Badeka, Theodore Pachidis, Vassilis G. Kaburlasos
{"title":"利用异构自主机器人进行葡萄收获合作","authors":"Chris Lytridis, Christos Bazinas, Ioannis Kalathas, George Siavalas, Christos Tsakmakis, Theodoros Spirantis, Eftichia Badeka, Theodore Pachidis, Vassilis G. Kaburlasos","doi":"10.3390/robotics12060147","DOIUrl":null,"url":null,"abstract":"The development of agricultural robots is an increasingly popular research field aiming at addressing the widespread labor shortages in the farming industry and the ever-increasing food production demands. In many cases, multiple cooperating robots can be deployed in order to reduce task duration, perform an operation not possible with a single robot, or perform an operation more effectively. Building on previous results, this application paper deals with a cooperation strategy that allows two heterogeneous robots to cooperatively carry out grape harvesting, and its implementation is demonstrated. More specifically, the cooperative grape harvesting task involves two heterogeneous robots, where one robot (i.e., the expert) is assigned the grape harvesting task, whereas the second robot (i.e., the helper) is tasked with supporting the harvesting task by carrying the harvested grapes. The proposed cooperative harvesting methodology ensures safe and effective interactions between the robots. Field experiments have been conducted in order firstly to validate the effectiveness of the coordinated navigation algorithm and secondly to demonstrate the proposed cooperative harvesting method. The paper reports on the conclusions drawn from the field experiments, and recommendations for future enhancements are made. The potential of sophisticated as well as explainable decision-making based on logic for enhancing the cooperation of autonomous robots in agricultural applications is discussed in the context of mathematical lattice theory.","PeriodicalId":37568,"journal":{"name":"Robotics","volume":"42 5","pages":"0"},"PeriodicalIF":2.9000,"publicationDate":"2023-10-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":"{\"title\":\"Cooperative Grape Harvesting Using Heterogeneous Autonomous Robots\",\"authors\":\"Chris Lytridis, Christos Bazinas, Ioannis Kalathas, George Siavalas, Christos Tsakmakis, Theodoros Spirantis, Eftichia Badeka, Theodore Pachidis, Vassilis G. Kaburlasos\",\"doi\":\"10.3390/robotics12060147\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The development of agricultural robots is an increasingly popular research field aiming at addressing the widespread labor shortages in the farming industry and the ever-increasing food production demands. In many cases, multiple cooperating robots can be deployed in order to reduce task duration, perform an operation not possible with a single robot, or perform an operation more effectively. Building on previous results, this application paper deals with a cooperation strategy that allows two heterogeneous robots to cooperatively carry out grape harvesting, and its implementation is demonstrated. More specifically, the cooperative grape harvesting task involves two heterogeneous robots, where one robot (i.e., the expert) is assigned the grape harvesting task, whereas the second robot (i.e., the helper) is tasked with supporting the harvesting task by carrying the harvested grapes. The proposed cooperative harvesting methodology ensures safe and effective interactions between the robots. Field experiments have been conducted in order firstly to validate the effectiveness of the coordinated navigation algorithm and secondly to demonstrate the proposed cooperative harvesting method. The paper reports on the conclusions drawn from the field experiments, and recommendations for future enhancements are made. The potential of sophisticated as well as explainable decision-making based on logic for enhancing the cooperation of autonomous robots in agricultural applications is discussed in the context of mathematical lattice theory.\",\"PeriodicalId\":37568,\"journal\":{\"name\":\"Robotics\",\"volume\":\"42 5\",\"pages\":\"0\"},\"PeriodicalIF\":2.9000,\"publicationDate\":\"2023-10-28\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"1\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Robotics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.3390/robotics12060147\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q2\",\"JCRName\":\"ROBOTICS\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.3390/robotics12060147","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 1

摘要

农业机器人的发展是一个日益流行的研究领域,旨在解决农业行业普遍存在的劳动力短缺和不断增长的粮食生产需求。在许多情况下,可以部署多个协作机器人,以缩短任务持续时间,执行单个机器人无法完成的操作,或者更有效地执行操作。在前人成果的基础上,本文提出了一种合作策略,允许两个异构机器人合作进行葡萄收获,并对其实现进行了演示。更具体地说,合作葡萄收获任务涉及两个异构机器人,其中一个机器人(即专家)被分配葡萄收获任务,而第二个机器人(即助手)的任务是通过搬运收获的葡萄来支持收获任务。所提出的协同收获方法保证了机器人之间安全有效的交互。为了验证协同导航算法的有效性,并对所提出的协同收获方法进行了现场实验。本文报告了从野外试验中得出的结论,并对今后的改进提出了建议。在数学格理论的背景下,讨论了基于逻辑的复杂和可解释决策的潜力,以增强农业应用中自主机器人的合作。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Cooperative Grape Harvesting Using Heterogeneous Autonomous Robots
The development of agricultural robots is an increasingly popular research field aiming at addressing the widespread labor shortages in the farming industry and the ever-increasing food production demands. In many cases, multiple cooperating robots can be deployed in order to reduce task duration, perform an operation not possible with a single robot, or perform an operation more effectively. Building on previous results, this application paper deals with a cooperation strategy that allows two heterogeneous robots to cooperatively carry out grape harvesting, and its implementation is demonstrated. More specifically, the cooperative grape harvesting task involves two heterogeneous robots, where one robot (i.e., the expert) is assigned the grape harvesting task, whereas the second robot (i.e., the helper) is tasked with supporting the harvesting task by carrying the harvested grapes. The proposed cooperative harvesting methodology ensures safe and effective interactions between the robots. Field experiments have been conducted in order firstly to validate the effectiveness of the coordinated navigation algorithm and secondly to demonstrate the proposed cooperative harvesting method. The paper reports on the conclusions drawn from the field experiments, and recommendations for future enhancements are made. The potential of sophisticated as well as explainable decision-making based on logic for enhancing the cooperation of autonomous robots in agricultural applications is discussed in the context of mathematical lattice theory.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Robotics
Robotics Mathematics-Control and Optimization
CiteScore
6.70
自引率
8.10%
发文量
114
审稿时长
11 weeks
期刊介绍: Robotics publishes original papers, technical reports, case studies, review papers and tutorials in all the aspects of robotics. Special Issues devoted to important topics in advanced robotics will be published from time to time. It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications and have significant potential for real-world applications. It provides a forum for information exchange between professionals, academicians and engineers who are working in the area of robotics, helping them to disseminate research findings and to learn from each other’s work. Suitable topics include, but are not limited to: -intelligent robotics, mechatronics, and biomimetics -novel and biologically-inspired robotics -modelling, identification and control of robotic systems -biomedical, rehabilitation and surgical robotics -exoskeletons, prosthetics and artificial organs -AI, neural networks and fuzzy logic in robotics -multimodality human-machine interaction -wireless sensor networks for robot navigation -multi-sensor data fusion and SLAM
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信