IEEE Robotics & Automation Magazine - December 2023 - 10
By Alexander You , Nidhi Parayil, Josyula Gopala Krishna , Uddhav Bhattarai , Ranjan Sapkota,
Dawood Ahmed , Matthew Whiting, Manoj Karkee , Cindy M. Grimm , and Joseph R. Davidson
Semiautonomous
Precision Pruning
of Upright Fruiting
Offshoot Orchard
Systems
An Integrated Approach
Dormant pruning is an important orchard
activity for maintaining tree health and producing
high-quality fruit. Due to decreasing
worker availability, pruning is a prime candidate
for robotics. However, pruning also represents
a uniquely difficult problem, requiring
robust systems for perception, pruning point
determination, and manipulation that must
operate under variable lighting conditions and
in complex, highly unstructured environments.
In this article, we introduce a system for pruning
modern planar orchard architectures with
simple pruning rules that combines various
subsystems from our previous work on perception
and manipulation. The integrated system
demonstrates the ability to autonomously
detect and cut pruning targets with minimal
control of the environment, laying the groundwork
for a fully autonomous system in the
future. We validate the performance of our
system through field trials in a sweet cherry
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Digital Object Identifier 10.1109/MRA.2023.3309098
Date of current version: 11 September 2023
10
IEEE ROBOTICS & AUTOMATION MAGAZINE DECEMBER 2023
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IEEE Robotics & Automation Magazine - December 2023
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - December 2023
Contents
IEEE Robotics & Automation Magazine - December 2023 - Cover1
IEEE Robotics & Automation Magazine - December 2023 - Cover2
IEEE Robotics & Automation Magazine - December 2023 - 1
IEEE Robotics & Automation Magazine - December 2023 - Contents
IEEE Robotics & Automation Magazine - December 2023 - 3
IEEE Robotics & Automation Magazine - December 2023 - 4
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IEEE Robotics & Automation Magazine - December 2023 - Cover3
IEEE Robotics & Automation Magazine - December 2023 - Cover4
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