An Efficient Planning and Control Framework for Pruning Fruit Trees
Alexander You,Fouad Sukkar,Robert Fitch,Manoj Karkee,Joseph R. Davidson,Alexander You,Fouad Sukkar,Robert Fitch,Manoj Karkee,Joseph R. Davidson
Dormant pruning is a major cost component of fresh market tree fruit production, nearly equal in scale to harvesting the fruit. However, relatively little focus has been given to the problem of pruning trees autonomously. In this paper, we introduce a robotic system consisting of an industrial manipulator, an eye-in-hand RGB-D camera configuration, and a custom pneumatic cutter. The system is capa...
