A Survey of Robotic Harvesting Systems and Enabling Technologies
Leonidas Droukas, Zoe Doulgeri, Nikolaos L. Tsakiridis, Dimitra, Triantafyllou, Ioannis Kleitsiotis, Ioannis Mariolis, Dimitrios Giakoumis,, Dimitrios Tzovaras, Dimitrios Kateris, Dionysis Bochtis

TL;DR
This paper reviews the current state of ground agricultural robotic systems for harvesting, focusing on technologies, tasks, and challenges across research and commercial applications, highlighting key functionalities and open research areas.
Contribution
It provides a comprehensive overview of enabling technologies, hardware, and functionalities of robotic harvesting systems, identifying gaps and future research directions.
Findings
Most solutions target apples, strawberries, tomatoes, and peppers.
Robotic systems typically include a mobile platform, manipulator, and vision systems.
Automated harvesting remains a wide-open research area with many challenges.
Abstract
This paper presents a comprehensive review of ground agricultural robotic systems and applications with special focus on harvesting that span research and commercial products and results, as well as their enabling technologies. The majority of literature concerns the development of crop detection, field navigation via vision and their related challenges. Health monitoring, yield estimation, water status inspection, seed planting and weed removal are frequently encountered tasks. Regarding robotic harvesting, apples, strawberries, tomatoes and sweet peppers are mainly the crops considered in publications, research projects and commercial products. The reported harvesting agricultural robotic solutions, typically consist of a mobile platform, a single robotic arm/manipulator and various navigation/vision systems. This paper reviews reported development of specific functionalities and…
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Taxonomy
TopicsBelt Conveyor Systems Engineering · Robotic Path Planning Algorithms · Modular Robots and Swarm Intelligence
