Indoor robot gardening: design and implementation
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si-agri.pdf
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893.33 KB
Format
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Checksum (MD5)
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Author(s)
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.
Date Issued
August 2010
Journal
Intelligent Service Robotics
Publisher
Springer-Verlag
Citation
Correll, Nikolaus et al. “Indoor Robot Gardening: Design and Implementation.” Intelligent Service Robotics 3.4 (2010): 219–232. Web.
Version
Author's final manuscript
Abstract
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.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike 3.0
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1007/s11370-010-0076-1
