I should have highlighted more sections in that text....
"The robotics department of LAAS has been conducting research for several decades in various fields of robotics. Although some of this research is very upstream, others are at a stage of maturity allowing to envisage potentialities of industrial valorisation.
The objective of this meeting is to present an overview of the problems dealt with today in the framework of international academic and industrial collaborations, as well as their possible industrial outlets. The program will include a demonstration of joint handling between a drone and an industrial manipulator on the ground."
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Fruit picking, harvesting and agriculture in general is going to be huge for AI and robots......
Implementation on a harvesting robot of a sensor-based controller performing a u-turn
Author(s)
E. Le Flecher ; A. Durand-Petiteville ; V. Cadenat ; T. Sentenac ; S. Vougioukas
Abstract:
In this paper we investigate the navigation of a harvesting robot using sensor-based controllers in an orchard. More precisely, we focus our work on the particular u-turn maneuver which allows the mechanical system to move from the current row to the next one. By using sensor-based controllers, the control law is expressed in the sensor space, and the robot does not have to localize itself nor use a global map of the field. The navigation task can then be realized more accurately.
This paper reports the implementation of two generic sensor-based controllers. These controllers allow a differential robot to follow spirals around a given point of interest. In this work, we adapt these two controllers to our specific robot (car-like system), before detailing the ROS implementation architecture. Both simulations and experimental results show the interest and the efficiency of our controllers to perform u-turns in an orchard.
Authors
E. Le Flecher
CNRS, LAAS, 7 avenue du colonel Roche, F-31400 Toulouse, France
A. Durand-Petiteville
Department of Biological and Agricultural Engineering, University of California, Davis, 95616 USA
V. Cadenat
CNRS, LAAS, 7 avenue du colonel Roche, F-31400 Toulouse, France
T. Sentenac
CNRS, LAAS, 7 avenue du colonel Roche, F-31400 Toulouse, France
S. Vougioukas
Department of Biological and Agricultural Engineering, University of California, Davis, 95616 USA
http://ieeexplore.ieee.org/document/7945895/
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