Robotic Lime Picking by Considering Leaves as Permeable Obstacles
Heramb Nemlekar,Ziang Liu,Suraj Kothawade,Sherdil Niyaz,Barath Raghavan,Stefanos Nikolaidis,Heramb Nemlekar,Ziang Liu,Suraj Kothawade,Sherdil Niyaz,Barath Raghavan,Stefanos Nikolaidis
The problem of robotic lime picking is challenging; lime plants have dense foliage which makes it difficult for a robotic arm to grasp a lime without coming in contact with leaves. Existing approaches either do not consider leaves, or treat them as obstacles and completely avoid them, often resulting in undesirable or infeasible plans. We focus on reaching a lime in the presence of dense foliage b...
