Local Motion Planner for Autonomous Navigation in Vineyards with a RGB-D Camera-Based Algorithm and Deep Learning Synergy

With the advent of agriculture 3.0 and 4.0, researchers are increasingly focusing on the development of innovative smart farming and precision agriculture technologies by introducing automation and robotics into the agricultural processes. Autonomous agricultural field machines have been gaining significant attention from farmers and industries to reduce costs, human workload, and required resources. Nevertheless, achieving sufficient autonomous navigation capabilities requires the simultaneous cooperation of different processes; localization, mapping, and path planning are just some of the steps that aim at providing to the machine the right set of skills to operate in semi-structured and unstructured environments. In this context, this study presents a low-cost local motion planner for autonomous navigation in vineyards based only on an RGB-D camera, low range hardware, and a dual layer control algorithm. The first algorithm exploits the disparity map and its depth representation to generate a proportional control for the robotic platform. Concurrently, a second back-up algorithm, based on representations learning and resilient to illumination variations, can take control of the machine in case of a momentaneous failure of the first block. Moreover, due to the double nature of the system, after initial training of the deep learning model with an initial dataset, the strict synergy between the two algorithms opens the possibility of exploiting new automatically labeled data, coming from the field, to extend the existing model knowledge. The machine learning algorithm has been trained and tested, using transfer learning, with acquired images during different field surveys in the North region of Italy and then optimized for on-device inference with model pruning and quantization. Finally, the overall system has been validated with a customized robot platform in the relevant environment

Path Planning Optimization for Agricultural Spraying Robots Using Hybrid Dragonfly – Cuckoo Search Algorithm

Finding collision-free paths and optimized path coverage over an agricultural landscape has been a critical research problem among scientists and researchers over the years. Key precision farming strategies such as seeding, spraying fertilizers, and harvesting require special path planning techniques for efficient operations and will directly influence reducing the running cost of the farm. The main objective of this research work is to generate an optimized sequential route in an agricultural landscape with the nominal distance. In this proposed work, a novel Hybrid Dragonfly – Cuckoo Search algorithm is proposed and implemented to generate the sequential route for achieving spraying applications in greenhouse environments. Here the agricultural routing problem is expressed as a Travelling Salesman Problem, and the simulations are performed to find the effectiveness of the proposed algorithm. The proposed algorithm has generated better results when compared with other computational techniques such as PSO in terms of both solution quality and computational efficiency

Precision agriculture trends in fruit growing from 2016 to 2020.

Brazilian fruit culture has a great influence on the social and economic sector in the most diverse regions of the country, generating employment and income in the exercise of its activities. As it is an activity carried out most often in a manual and conventional manner, fruit culture has a great potential for technological growth, especially when adopting the concepts applied by precision agriculture on the crops of grains, fibers and energy, creating a new segment, Precision Fruit Farming. The present work aims to carry out a bibliographic review on the main trends that have emerged in the last five years on Precision Fruit growing, highlighting its future perspectives and the history of technological evolution. 83 articles were analyzed, classified in different perennial cultures and applications, such as machine learning, remote sensing, robotics, using UAV to obtain different vegetation indexes, among others. Index Terms: Machine Learning; Vegetation Indexes; Robotics; Tendências da agricultura de precisão em fruticultura no período de 2016 A 2020 Resumo - A fruticultura brasileira exerce grande influência sobre o setor social e econômico nas mais diversas regiões do País, gerando emprego e renda no exercício de suas atividades. Por se tratar de uma atividade realizada, na maioria das vezes, de forma manual e convencional, a fruticultura possui grande potencial de crescimento tecnológico, principalmente ao adotar os conceitos aplicados pela agricultura de precisão sobre as culturas de grãos, fibras e energia, criando um novo segmento, a Fruticultura de Precisão. O presente estudo objetivou realizar uma revisão bibliográfica sobre as principais tendências que surgiram nos últimos cinco anos sobre a Fruticultura de Precisão, destacando suas perspectivas futuras e o histórico de evolução tecnológica. Foram analisados 83 artigos, classificados em diferentes culturas perenes e aplicações, como machine learning (aprendizado de máquinas), sensoriamento remoto, robótica, utilização de VANT para obtenção de diferentes índices de vegetação, entre outras. Termos para indexação: Aprendizagem de Máquina; Índices de Vegetação; Robótica; Sensoriamento Remoto; VANT

Odometria visual monocular em robôs para a agricultura com camara(s) com lentes "olho de peixe"

One of the main challenges in robotics is to develop accurate localization methods that achieve acceptable runtime performances.One of the most common approaches is to use Global Navigation Satellite System such as GPS to localize robots.However, satellite signals are not full-time available in some kind of environments.The purpose of this dissertation is to develop a localization system for a ground robot.This robot is inserted in a project called RoMoVi and is intended to perform tasks like crop monitoring and harvesting in steep slope vineyards.This vineyards are localized in the Douro region which are characterized by the presence of high hills.Thus, the context of RoMoVi is not prosperous for the use of GPS-based localization systems.Therefore, the main goal of this work is to create a reliable localization system based on vision techniques and low cost sensors.To do so, a Visual Odometry system will be used.The concept of Visual Odometry is equivalent to wheel odometry but it has the advantage of not suffering from wheel slip which is present in these kind of environments due to the harsh terrain conditions.Here, motion is tracked computing the homogeneous transformation between camera frames, incrementally.However, this approach also presents some open issues.Most of the state of art methods, specially those who present a monocular camera system, don't perform good motion estimations in pure rotations.In some of them, motion even degenerates in these situations.Also, computing the motion scale is a difficult task that is widely investigated in this field.This work is intended to solve these issues.To do so, fisheye lens cameras will be used in order to achieve wide vision field of views

Thermography to assess grapevine status and traits opportunities and limitations in crop monitoring and phenotyping – a review

Mestrado em Engenharia de Viticultura e Enologia (Double degree) / Instituto Superior de Agronomia. Universidade de Lisboa / Faculdade de Ciências. Universidade do PortoClimate change and the increasing water shortage pose increasing challenges to agriculture and viticulture, especially in typically dry and hot areas such as the Mediterranean and demand for solutions to use water resources more effectively. For this reason, new tools are needed to precisely monitor water stress in crops such as grapevine in order to save irrigation water, while guaranteeing yield. Imaging technologies and remote sensing tools are becoming more common in agriculture and plant/crop science research namely to perform phenotyping/selection or for crop stress monitoring purposes. Thermography emerged as important tool for the industry and agriculture. It allows detection of the emitted infrared thermal radiation and conversion of infrared radiation into temperature distribution maps. Considering that leaf temperature is a feasible indicator of stress and/or stomatal behavior, thermography showed to be capable to support characterization of novel genotypes and/or monitor crop’s stress. However, there are still limitations in the use of the technique that need to be minimized such as the accuracy of thermal data due to variable weather conditions, limitations due to the high costs of the equipment/platforms and limitations related to image analysis and processing to extract meaningful thermal data. This work revises the role of remote sensing and imaging in modern viticulture as well as the advantages and disadvantages of thermography and future developments, focusing on viticultureN/

Towards autonomous mapping in agriculture: A review of supportive technologies for ground robotics

This paper surveys the supportive technologies currently available for ground mobile robots used for autonomous mapping in agriculture. Unlike previous reviews, we describe state-of-the-art approaches and technologies aimed at extracting information from agricultural environments, not only for navigation purposes but especially for mapping and monitoring. The state-of-the-art platforms and sensors, the modern localization techniques, the navigation and path planning approaches, as well as the potentialities of artificial intelligence towards autonomous mapping in agriculture are analyzed. According to the findings of this review, many examples of recent mobile robots provide full navigation and autonomous mapping capability. Significant resources are currently devoted to this research area, in order to further improve mobile robot capabilities in this complex and challenging field

Políticas de Copyright de Publicações Científicas em Repositórios Institucionais: O Caso do INESC TEC

A progressiva transformação das práticas científicas, impulsionada pelo desenvolvimento das novas Tecnologias de Informação e Comunicação (TIC), têm possibilitado aumentar o acesso à informação, caminhando gradualmente para uma abertura do ciclo de pesquisa. Isto permitirá resolver a longo prazo uma adversidade que se tem colocado aos investigadores, que passa pela existência de barreiras que limitam as condições de acesso, sejam estas geográficas ou financeiras. Apesar da produção científica ser dominada, maioritariamente, por grandes editoras comerciais, estando sujeita às regras por estas impostas, o Movimento do Acesso Aberto cuja primeira declaração pública, a Declaração de Budapeste (BOAI), é de 2002, vem propor alterações significativas que beneficiam os autores e os leitores. Este Movimento vem a ganhar importância em Portugal desde 2003, com a constituição do primeiro repositório institucional a nível nacional. Os repositórios institucionais surgiram como uma ferramenta de divulgação da produção científica de uma instituição, com o intuito de permitir abrir aos resultados da investigação, quer antes da publicação e do próprio processo de arbitragem (preprint), quer depois (postprint), e, consequentemente, aumentar a visibilidade do trabalho desenvolvido por um investigador e a respetiva instituição. O estudo apresentado, que passou por uma análise das políticas de copyright das publicações científicas mais relevantes do INESC TEC, permitiu não só perceber que as editoras adotam cada vez mais políticas que possibilitam o auto-arquivo das publicações em repositórios institucionais, como também que existe todo um trabalho de sensibilização a percorrer, não só para os investigadores, como para a instituição e toda a sociedade. A produção de um conjunto de recomendações, que passam pela implementação de uma política institucional que incentive o auto-arquivo das publicações desenvolvidas no âmbito institucional no repositório, serve como mote para uma maior valorização da produção científica do INESC TEC.The progressive transformation of scientific practices, driven by the development of new Information and Communication Technologies (ICT), which made it possible to increase access to information, gradually moving towards an opening of the research cycle. This opening makes it possible to resolve, in the long term, the adversity that has been placed on researchers, which involves the existence of barriers that limit access conditions, whether geographical or financial. Although large commercial publishers predominantly dominate scientific production and subject it to the rules imposed by them, the Open Access movement whose first public declaration, the Budapest Declaration (BOAI), was in 2002, proposes significant changes that benefit the authors and the readers. This Movement has gained importance in Portugal since 2003, with the constitution of the first institutional repository at the national level. Institutional repositories have emerged as a tool for disseminating the scientific production of an institution to open the results of the research, both before publication and the preprint process and postprint, increase the visibility of work done by an investigator and his or her institution. The present study, which underwent an analysis of the copyright policies of INESC TEC most relevant scientific publications, allowed not only to realize that publishers are increasingly adopting policies that make it possible to self-archive publications in institutional repositories, all the work of raising awareness, not only for researchers but also for the institution and the whole society. The production of a set of recommendations, which go through the implementation of an institutional policy that encourages the self-archiving of the publications developed in the institutional scope in the repository, serves as a motto for a greater appreciation of the scientific production of INESC TEC