Indoor robot gardening: design and implementation
This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable...
| Main Authors: | , , , , , , , , , , , , , , , , , |
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| Format: | Article |
| Language: | en_US |
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Springer-Verlag
2012
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| Online Access: | http://hdl.handle.net/1721.1/71699 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0001-6084-7287 |
| _version_ | 1826217535235686400 |
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| author | Correll, Nikolaus Arechiga, Nikos Bolger, Adrienne M. Bollini, Mario A. Charrow, Ben Clayton, Adam Dominguez, Felipe A. Donahue, Kenneth M. Dyar, Samuel S. Johnson, Luke B. Liu, Huan Patrikalakis, Alexander Robertson, Timothy Smith, Jeremy Soltero, Daniel Eduardo Tanner, Melissa White, Lauren L. Rus, Daniela L. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Correll, Nikolaus Arechiga, Nikos Bolger, Adrienne M. Bollini, Mario A. Charrow, Ben Clayton, Adam Dominguez, Felipe A. Donahue, Kenneth M. Dyar, Samuel S. Johnson, Luke B. Liu, Huan Patrikalakis, Alexander Robertson, Timothy Smith, Jeremy Soltero, Daniel Eduardo Tanner, Melissa White, Lauren L. Rus, Daniela L. |
| author_sort | Correll, Nikolaus |
| collection | MIT |
| description | This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation, and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition, and manipulation as well as challenges that lie ahead toward autonomous precision agriculture with multi-robot teams. |
| first_indexed | 2024-09-23T17:05:12Z |
| format | Article |
| id | mit-1721.1/71699 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T17:05:12Z |
| publishDate | 2012 |
| publisher | Springer-Verlag |
| record_format | dspace |
| spelling | mit-1721.1/716992022-10-03T10:17:21Z Indoor robot gardening: design and implementation Correll, Nikolaus Arechiga, Nikos Bolger, Adrienne M. Bollini, Mario A. Charrow, Ben Clayton, Adam Dominguez, Felipe A. Donahue, Kenneth M. Dyar, Samuel S. Johnson, Luke B. Liu, Huan Patrikalakis, Alexander Robertson, Timothy Smith, Jeremy Soltero, Daniel Eduardo Tanner, Melissa White, Lauren L. Rus, Daniela L. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Rus, Daniela Arechiga, Nikos Bolger, Adrienne M. Bollini, Mario A. Charrow, Ben Clayton, Adam Dominguez, Felipe A. Donahue, Kenneth M. Dyar, Samuel S. Johnson, Luke Liu, Huan Patrikalakis, Alexander Robertson, Timothy Smith, Jeremy Soltero, Daniel Eduardo Tanner, Melissa White, Lauren L. Rus, Daniela L. This paper describes the architecture and implementation of a distributed autonomous gardening system with applications in urban/indoor precision agriculture. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. By embedding sensing, computation, and communication into the pots, task allocation in the system is de-centrally coordinated, which makes the system scalable and robust against the failure of a centralized agent. We describe the architecture of this system and present experimental results for navigation, object recognition, and manipulation as well as challenges that lie ahead toward autonomous precision agriculture with multi-robot teams. Swiss National Science Foundation (contract number PBEL2118737) United States. Army Research Office. Multidisciplinary University Research Initiative (MURI SWARMS project W911NF-05-1-0219) National Science Foundation (U.S.) (NSF IIS-0426838) Intel Corporation (EFRI 0735953 Intel) Massachusetts Institute of Technology (UROP program) Massachusetts Institute of Technology (MSRP program) 2012-07-18T21:05:36Z 2012-07-18T21:05:36Z 2010-08 2010-01 Article http://purl.org/eprint/type/JournalArticle 1861-2776 1861-2784 http://hdl.handle.net/1721.1/71699 Correll, Nikolaus et al. “Indoor Robot Gardening: Design and Implementation.” Intelligent Service Robotics 3.4 (2010): 219–232. Web. https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0001-6084-7287 en_US http://dx.doi.org/10.1007/s11370-010-0076-1 Intelligent Service Robotics Creative Commons Attribution-Noncommercial-Share Alike 3.0 http://creativecommons.org/licenses/by-nc-sa/3.0/ application/pdf Springer-Verlag Rus via Amy Stout |
| spellingShingle | Correll, Nikolaus Arechiga, Nikos Bolger, Adrienne M. Bollini, Mario A. Charrow, Ben Clayton, Adam Dominguez, Felipe A. Donahue, Kenneth M. Dyar, Samuel S. Johnson, Luke B. Liu, Huan Patrikalakis, Alexander Robertson, Timothy Smith, Jeremy Soltero, Daniel Eduardo Tanner, Melissa White, Lauren L. Rus, Daniela L. Indoor robot gardening: design and implementation |
| title | Indoor robot gardening: design and implementation |
| title_full | Indoor robot gardening: design and implementation |
| title_fullStr | Indoor robot gardening: design and implementation |
| title_full_unstemmed | Indoor robot gardening: design and implementation |
| title_short | Indoor robot gardening: design and implementation |
| title_sort | indoor robot gardening design and implementation |
| url | http://hdl.handle.net/1721.1/71699 https://orcid.org/0000-0001-5473-3566 https://orcid.org/0000-0001-6084-7287 |
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