Agricultural Robotics

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12 papers in the last four weeks, up 200% on the four weeks before. 0.1% of all new papers.

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Robotic Arm-Based Spectral Sensing for Strawberry Positioning and Non-Destructive Sweetness Measurement
Jun 26, 2026Yi Yang, Mark Cardamis, Wen HuHand-Eye Calibration Robotic Manipulation
Unsupervised Memory-Enhanced Video Transformers: Obstacle Detection for Autonomous Agricultural Rover
Jun 23, 2026Théo Biardeau, Anne-Sophie Capelle-Laizé, Salwan Alwan +1Video Anomaly Detection Agricultural Robotics
XLIM-ASALI, UFR SFA · Universit´e de Poitiers, CNRS, XLIM, France · Cyclair, Pressac, France +2
Conceptual Design of an Ecosystem for Real Farm Data Collection toward Agricultural AI Foundation Models
Jun 22, 2026Junsei Tanaka, Yoshihiro SatoRobot Foundation Models Agricultural Robotics
Kyoto University of Advanced Science
Integrated cloud-based architecture for robot-robot and human-robot collaboration using ROS 2--MQTT in Mediterranean Greenhouses
Jun 21, 2026F. Cañadas-Aránega, M. Muñoz, J. C. Moreno +1Robotics Multi-Robot Coordination
Department of Informatics, CIESOL, ceiA3, Universidad de Almería, Ctra.2026 Sacramento s/n, Almería, 04120, Spain · Department of Engineering, CIESOL, ceiA3, Universidad de Almería, Ctra. Sacramento s/n, Almería, 04120, Spain
Modeling Branches for Active Manipulation using Iterative Parameter Estimation
Jun 17, 2026Madhav Rijal, Rashik Shrestha, Trevor Smith +1Deformable Object Manipulation Robotic Manipulation
Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV 26505, USA
A Modular Dual-Arm Apple Harvesting Robot with Enhanced Field Performance
Jun 12, 2026Keyi Zhu, Kyle Lammers, Chaaran Arunachalam +3Bimanual Robotic Manipulation Agricultural Robotics
Department of Mechanical Engineering Michigan State University East Lansing, MI 48824, USA · Department of Electrical and Computer Engineering Michigan State University East Lansing, MI 48824, USA · United States Department of Agriculture Agricultural Research Service East Lansing, MI 48824, USA
Heterogeneous LiDAR Early Fusion and Learned Re-Ranking Strategy for Robust Long-Term Place Recognition in Unstructured Environments
Jun 11, 2026Judith Vilella-Cantos, Juan José Cabrera, Mónica Ballesta +2LiDAR Place Recognition Agricultural Robotics
University Institute for Engineering Research, Miguel Hernández University, Avda. de la Universidad s/n, Edificio Innova, Elche, 03202, Alicante, Spain
From Simulation to the Real-World: An In-Field 6D Pose Dataset and Baseline for Robotic Strawberry Harvesting
Jun 9, 2026Woojung Son, Won Suk Lee, Zijing Huang +4Sim-to-Real Transfer Object Pose Estimation
Department of Agricultural and Biological Engineering, University of Florida · Department of Electrical and Computer Engineering, University of Florida · Edwardson School of Industrial Engineering, Purdue University +1
Resilient Navigation for Autonomous Farm Robots by Leveraging Jerk-Augmented Models with IMU-Only Disturbance Rejection
Jun 9, 2026Batu Candan, Mohammed Atallah, Simone Servadio +1Kalman Filtering Embodied Navigation
Batu Candan, PhD Candidate, Iowa State University, Ames, IA 50011, USA · Mohammed Atallah, PhD Candidate, Iowa State University, Ames, IA 50011, USA · Dr. Simone Servadio, Assistant Professor, Iowa State University, Ames, IA 50011, USA +1
Optimal Design and Analytical Modeling of a Soft Fin-Ray Effect Gripper Finger Using the Finite Rigid Elements Method
Jun 2, 2026Sara Adeli, Hassan SayyaadiRobotic Grasping Agricultural Robotics
Mechanical Engineering Department at Sharif University of Technology, Tehran, Iran
IMAC-AgriVLN: Can Agricultural Vision-and-Language Navigation Agents be Aware of Instruction Mistakes?
Jun 1, 2026Xiaobei Zhao, Xingqi Lyu, Xin Chen +1Vision-Language Navigation Agricultural Robotics
China Agricultural University · China Agricultural University-Sichuan Advanced Agricultural & Industrial Institute
Threading Optimization for Vision-Language-Action Model Inference in Low-Cost Smart Agricultural Manipulation
May 31, 2026Keith Truongcao, Christopher Nhu, Zijian An +3Efficient VLA Model Inference Robotic Manipulation
Department of Electrical Engineering, Drexel University, Philadelphia, USA
ROG-Grasp: Root-Oriented Geometry for Robotic Grasping and Placement
May 30, 2026Zijian An, Augustus Sroka, Ran Yang +8Robotic Grasping Agricultural Robotics
Department of Electrical and Computer Engineering, Drexel University, 3141 Chestnut St, Philadelphia, PA, 19104, USA · Virginia Seafood Agricultural Research and Extension Center, and Department of Biological Systems Engineering, Virginia Tech, 15 Rudd Ln, Hampton, VA 23669, USA · Amazon Store Foundation AI (SFAI), 12 W 39th St, New York, NY 10018, USA
YOLO26-RipeLoc Lite: A lightweight architecture for tomato ripeness detection and picking point localization in greenhouse robotic harvesting
May 26, 2026Rajmeet Singh, Manveen Kaur, Shahpour Alirezaee +1Agricultural Image Analysis Robotic Grasping
Department of Mechanical Engineering Khalifa University Abu Dhabi, UAE · Department of Mechanical Engineering University of Windsor Windsor, Canada
GreenSeg: Ground Segmentation Algorithm for Agricultural Robots in Mediterranean Greenhouses using RGB-D Point Clouds
May 24, 2026Fernando Cañadas-Aránega, José C. Moreno, José L. Blanco-Claraco3D Point Cloud Segmentation Robot Navigation
Department of Informatics, CIESOL, ceiA3, Universidad de Almería, Ctra. Sacramento s/n, Almería, 04120, Spain · Department of Engineering, CIESOL, ceiA3, Universidad de Almería, Ctra. Sacramento s/n, Almería, 04120, Spain
Robotic Strawberry Harvesting with Robust Vision and Deep Reinforcement Learning based Sim-to-Real Control
May 22, 2026Al Bashir, Shao-Yang Chang, Partho Ghose +3RL for Robotics Instance Segmentation
Department of Biological & Agricultural Engineering, Texas A&M University, College Station, TX 77843, USA · Department of Biomechatronics Engineering, National Taiwan University, 10617, Taipei City, Taiwan · Texas A&M AgriLife Research, Texas A&M University System, Dallas, TX 75252, USA
Droneulator: A Portable UAV Simulator for Agricultural Workflows with RotorPy and Godot 4
May 22, 2026Jacob Swindell, Michael Lowen, Marija Popovic +1Robotics Simulation Robot Navigation
Lincoln Centre for Autonomous Systems (L-CAS), University of Lincoln, Lincoln, UK. · Faculty of Aerospace Engineering, MAVLab, Delft University of Technology (TU Delft), Delft, Netherlands.
Automated Robotic Moisture Monitoring in Agricultural Fields
May 9, 2026Senthil Palanisamy, Akila I. SAgricultural Remote Sensing Agricultural Robotics
Coimbatore Institute of Technology, Coimbatore, India.
An Aerial Manipulator for Perception-Driven Flower Targeting Toward Contactless Pollination in Vertical Farming
May 7, 2026Chenzhe Jin, Zhuohang Wu, Yifan Cai +4Aerial Robotics Agricultural Robotics
Department of Computer Science University College London London, United Kingdom · Department of Artificial Intelligence University of Malaya Kuala Lumpur, Malaysia
Terrain Perception for Agricultural UAVs in Complex Farmland via Rotating mmWave Radar
May 2, 2026Zhihao Zhan, Le Tao, Shaobin Li +5Aerial Robotics 3D Reconstruction
School of Computer Science, Hangzhou Dianzi University, Hangzhou, 310018, China · TopXGun Robotics, Nanjing, 211100, China · CARDC, Mianyang, 621000, China +2
An analysis of sensor selection for fruit picking with suction-based grippers
Apr 27, 2026Eva Krueger, Marcus Rosette, Joseph R. DavidsonRobotic Grasping Tactile Sensing
Collaborative Robotics and Intelligent Systems (CoRIS) Institute, Oregon State University, Corvallis OR 97331, USA
Real-time windrow detection from onboard tractor sensors for automated following
Apr 27, 2026Lorenz Gunreben, Nico Heider, Sebastian Zürner +2Object Detection Agricultural Robotics
Leipzig University, Smart Farming Lab, Grimmaische Straße 12, 04109 Leipzig
CableTract: A Co-Designed Cable-Driven Field Robot for Low-Compaction, Off-Grid Capable Agriculture
Apr 10, 2026Ozgur YilmazRobotics Hardware-Software Co-Design
Adana Science and Technology University, Adana, Türkiye
Visual-Language-Guided Task Planning for Horticultural Robots
Jan 17, 2026Jose Cuaran, Kendall Koe, Aditya Potnis +2Large Language Model-Based Robot Planning Vision-Language Grounding
The Siebel School of Computing and Data Science, University of Illinois, Urbana-Champaign · National Center for Supercomputing Applications at University of Illinois, Urbana-Champaign · The Department of Agricultural and Biological Engineering, University of Illinois, Urbana-Champaign
RoMu4o: A Robotic Manipulation Unit For Orchard Operations Automating Proximal Hyperspectral Leaf Sensing
Date pendingMehrad Mortazavi, David J. Cappelleri, Reza EhsaniRobotic Grasping Robotic Manipulation
Department of Mechanical Engineering, University of California, Merced, CA, 95343, USA · School of Mechanical Engineering and Weldon School of Biomedical Engineering (By Courtesy), Purdue University, West Lafayette, IN USA 47907
Visual-SLAM for the detection of hidden tomatoes in greenhouses by Hierarchical Localization and GLOMAP for robotized harvesting
Date pendingFernando Cañadas-Aránega, José C. Moreno, José L. Blanco-Claraco +1Monocular 3D Reconstruction Visual SLAM
Department of Informatics, CIESOL, ceiA3, Universidad de Almería, Ctra. Sacramento s/n, Almería, 04120, Spain · Department of Engineering, CIESOL, ceiA3, Universidad de Almería, Ctra. Sacramento s/n, Almería, 04120, Spain

Jun 26, 2026, cs.ROJ/K move · Enter open · S save

Robotic Arm-Based Spectral Sensing for Strawberry Positioning and Non-Destructive Sweetness Measurement

Yi Yang, Mark Cardamis, Wen Hu

Hand-Eye Calibration Robotic Manipulation Agricultural Robotics Robotic Perception

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Accurate assessment of sweetness is essential for quality control in agriculture, yet conventional methods rely on destructive sampling and are difficult to scale. This thesis presents a robotic arm-based spectral sensing system for strawberry detection, localization, approach, and non-destructive sweetness estimation. The system integrates perception, calibration, and robotic control in a closed-loop pipeline. A YOLOv11s detector is adopted for real-time strawberry detection, while RGB-ToF calibration and mask-to-depth alignment are used to obtain geometrically consistent target localization. A custom eye-in-hand hand-eye calibration workflow is developed to estimate the rigid transform between gripper_link and cam_front, enabling reliable transformation of fruit targets into the robot base frame. Based on these estimates, the robot executes a waypoint-based search and an incremental closed-loop approach strategy to position the sensor at optimal working distance for sweetness sensing. Experimental results show strong end-to-end performance (88.10% success over 42 trials), with robust detection (95.24%) and successful approach execution once a target is detected (100% conditional success). Hand-eye calibration comparisons indicate that although Andreff yields the smallest translation norm in single-run results, the Park method provides better cross-sample consistency and therefore more stable downstream robot behavior. The residual failures are concentrated in the sensing stage, especially valid-region extraction for sweetness estimation under difficult depth/reflectance conditions. Overall, this work demonstrates the feasibility of integrating RGB-ToF perception, robotic manipulation, and non-destructive sensing for practical strawberry quality assessment, and provides a scalable baseline for future integration of learning-based policies such as Vision-Language-Action models.

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