MoBile Robotic PlAtforms for ACtive InspeCtion and Harvesting in AgricUltural AreaS

Información del proyecto

BACCHUS

Identificador del acuerdo de subvención: 871704

DOI 10.3030/871704

Proyecto cerrado

Fecha de la firma de la CE 5 Diciembre 2019

Fecha de inicio 1 Enero 2020

Fecha de finalización 30 Noviembre 2023

Financiado con arreglo a

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Coste total € 5 104 943,75

Aportación de la UE € 5 104 943,75

Coordinado por

ARISTOTELIO PANEPISTIMIO THESSALONIKIS
Greece

Resultado final

Documents, reports (13)

Website and Social Media Presence Launch
Design and Development of reaching controller (Final)

Final version of Design and Development of reaching controller

BACCHUS Dual-arm controller for processing, and pick and place operations (Final)

Final version of BACCHUS Dualarm controller for processing and pick and place operations

Target approaching and active inspection (Final)

Final version of Target approaching and active inspection

Navigation Data processing and sensor fusion (Final)

Final version of Navigation Data processing and sensor fusion

BACCHUS system architecture (Final)

Final version

BACCHUS User requirements (Final)

Final version

BACCHUS Use Cases (Final)

Final version

Design and Development of Unveiling controller (Final)

Final version of Design and Development of Unveiling controller

Operation planning module (Final)

Final version of operation planning module

3D visualization system (Final)

Final version of 3D visualization system

Design and Development of Bimanual reaching controller (Final)

Final version of Design and Development of Bimanual reaching controller

Report on the analysis of SoA, existing and past projects/initiatives

Detailed report, including market analysis in respect future flexible manufacturing challenges, applications & ecosystems

Publicaciones

Conference proceedings (29)

Pick-and-place in dynamic environments with a mobile dual-arm robot equipped with distributed distance sensors

Autores: Stavridis, Sotiris; Falco, Pietro; Doulgeri, Zoe
Publicado en: HUMANOIDS, Edición 3, 2021
Editor: IEEE
DOI: 10.1109/humanoids47582.2021.9555672

A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot

Autores: Papageorgiou Dimitrios; Koutras Leonidas; Doulgeri Zoe
Publicado en: 2022
Editor: IEEE
DOI: 10.5281/zenodo.7128778

Anisotropic Diffusion-Based Enhancement of Scene Segmentation with Instance Labels

Autores: Kleitsiotis, Ioannis; Mariolis, Ioannis; Giakoumis, Dimitrios; Likothanassis, Spiridon; Tzovaras, Dimitrios;
Publicado en: The 19th International Conference on Computer Analysis of Images and Patterns (CAIP),, 2021
Editor: -
DOI: 10.5281/zenodo.5266712

Kinesthetic teaching of bi-manual tasks with known relative constraints

Autores: Sotiris Stavridis; Dimitrios Papageorgiou; Zoe Doulgeri
Publicado en: 2022
Editor: IEEE
DOI: 10.5281/zenodo.7223480

Collection and Evaluation of a Long-Term 4D Agri-Robotic Dataset

Autores: Polvara, Riccardo; Molina, Sergi; Hroob, Ibrahim; Cielniak, Grzegorz; Hanheide, Marc
Publicado en: 2022
Editor: -
DOI: 10.5281/zenodo.7135175

A real-time approach system for vineyards intra-row weed detection

Autores: Vasileios Moysiadis; Dimitrios Kateris; Dimitrios Katikaridis; Giorgos Vasileiadis; Vasileios Kolorizos; Aristotelis C. Tagarakis; Dionysis Bochtis
Publicado en: 2022
Editor: -
DOI: 10.5281/zenodo.7123776

Bimanual crop manipulation for human-inspired robotic harvesting

Autores: Stavridis, Sotiris; Papageorgiou, Dimitrios; Droukas, Leonidas; Doulgeri, Zoe
Publicado en: Edición 1, 2023
Editor: -
DOI: 10.48550/arxiv.2209.06074

Split Deep Q-Learning for Robust Object Singulation *

Autores: Iason Sarantopoulos, Marios Kiatos, Zoe Doulgeri, Sotiris Malassiotis
Publicado en: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Página(s) 6225-6231, ISBN 978-1-7281-7395-5
Editor: IEEE
DOI: 10.1109/icra40945.2020.9196647

In situ hyperspectral imaging for estimation of wine grape ripeness using attention-based convolutional neural networks

Autores: Nikolaos Tsakiridis; Eleni Kalopesa; Nikiforos Samarinas; George Zalidis; Nikolaos Tziolas
Publicado en: Edición 3, 2023
Editor: -
DOI: 10.5281/zenodo.7950241

An integrated weed detection system in vineyards

Autores: Moysiadis, Vasileios; Katikaridis, Dimitrios; Kateris, Dimitrios; Bochtis, Dionysis
Publicado en: Edición 2, 2022
Editor: -
DOI: 10.5281/zenodo.10548145

Prescribed Performance Regulation in the presence of Unknown Time-Varying Delays

Autores: Bikas, Lampros; Rovithakis, George
Publicado en: 2022
Editor: IFAC
DOI: 10.5281/zenodo.7138570

Improving Safety in Human-Robot Collaboration via Dynamic Active Constraints Enforcement *

Autores: George S. Kanakis, George A. Rovithakis
Publicado en: 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021, Página(s) 515-519, ISBN 978-1-6654-0492-1
Editor: IEEE
DOI: 10.1109/ro-man50785.2021.9515497

Autonomous UGV-based weed detection system for vineyards

Autores: Dimitrios Kateris; Damianos Kalaitzidis; Vasileios Moysiadis; Dimitrios Katikaridis; Aristotelis C. Tagarakis; Dionysis Bochtis;
Publicado en: EFITA 2021, Digital Agriculture Web Conference (EFITA 2021), 2021
Editor: -
DOI: 10.5281/zenodo.5286423

UAV-assisted topological mapping for AGV navigation in vineyards

Autores: Molina, Sergi; Cielniak, Grzegorz; Hanheide, Marc
Publicado en: 2022
Editor: -
DOI: 10.5281/zenodo.7135167

On Visual Servoing under Field-of-View Limits and Impulsive Perturbations

Autores: Rovithakis, George; Kechagias, Andreas
Publicado en: Edición 1, 2023
Editor: ECC
DOI: 10.23919/ECC57647.2023.10178365

Improved Reinforcement Learning Pushing Policies via Heuristic Rules

Autores: Kiatos, Marios; Sarantopoulos, Iason; Malassiotis, Sotiris; Doulgeri, Zoe
Publicado en: Edición 3, 2021
Editor: -
DOI: 10.48550/arxiv.2111.11156

Achieving Prescribed Performance for Uncertain Impulsive Systems in Brunovsky Canonical Form

Autores: Kechagias, Andreas; Rovithakis, George
Publicado en: Edición 1, 2023
Editor: IEEE
DOI: 10.1109/MED59994.2023.10185769

Non-destructive estimation of grape ripeness in Syrah variety via VNIR–SWIR spectroscopy

Autores: Nikiforos Samarinas; Nikolaos Tsakiridis; Nikolaos Tziolas; Eleni Kalopesa; Konstantinos Karyotis; Dionysis Bochtis; George Zalidis; Zoe Doulgeri;
Publicado en: EFITA 2021, Digital Agriculture Web Conference (EFITA 2021), 2021
Editor: -
DOI: 10.5281/zenodo.5266375

Learned Long-Term Stability Scan Filtering for Robust Robot Localisation in Continuously Changing Environments

Autores: Hroob, Ibrahim; Molina, Sergi; Polvara, Riccardo; Cielniak, Grzegorz; Hanheide, Marc
Publicado en: Edición 6, 2023
Editor: -
DOI: 10.1109/ECMR59166.2023.10256419

LTS-NET: End-to-end Unsupervised Learning of Long-Term 3D Stable objects

Autores: Hroob, Ibrahim; Molina, Sergi; Polvara, Riccardo; Cielniak, Grzegorz; Hanheide, Marc
Publicado en: Edición 3, 2023
Editor: -
DOI: 10.48550/arxiv.2301.03426

From RGB images to Dynamic Movement Primitives for planar tasks

Autores: Sidiropoulos, Antonis; Doulgeri, Zoe
Publicado en: Edición 1, 2023
Editor: IEEE
DOI: 10.48550/arxiv.2303.03204

Achieving Prescribed Performance for Euler-Lagrange Systems with Impulsive Behaviour

Autores: Kechagias, Andreas; Rovithakis, George
Publicado en: 2022
Editor: IEEE
DOI: 10.5281/zenodo.6912777

Pick-and-place in dynamic environments with a mobile dual-arm robot equipped with distributed distance sensors

Autores: Sotiris Stavridis; Pietro Falco; Zoe Doulgeri
Publicado en: Humanoids 2021, 2021
Editor: -
DOI: 10.5281/zenodo.5163236

TS-Rep: Time series representation learning in robotics using self-supervised contrastive learning

Autores: Somaiya, Pratik; Pandya, Harit; Polvara, Riccardo; Hanheide, Marc; Cielniak, Grzegorz
Publicado en: 2022
Editor: -
DOI: 10.5281/zenodo.7135205

Exponential stability of trajectory tracking control in the orientation space utilizing unit quaternions

Autores: Koutras Leonidas; Doulgeri Zoe
Publicado en: 2021
Editor: IEEE
DOI: 10.5281/zenodo.5535870

Navigate-and-Seek: A Robotics Framework for People Localization in Agricultural Environments

Autores: Riccardo Polvara; Francesco Del Duchetto; Gerhard Neumann; Marc Hanheide
Publicado en: Edición 6, 2021
Editor: -
DOI: 10.1109/lra.2021.3094557

Towards Agri-KITTI: a 4D Dataset for Phenotyping and Simultaneous Localization and Mapping in Agricultural Applications

Autores: Polvara, Riccardo; Molina, Sergi; Tsiolis, Konstantinos; Papadimitriou, Alexios; Mariolis, Ioannis; Giakoumis, Dimitrios; Tzovaras, Dimitrios; Cielniak, Grzegorz; Hanheide, Marc
Publicado en: 2022
Editor: -
DOI: 10.5281/zenodo.7135191

Loop Closure Detection and SLAM in Vineyards with Deep Semantic Cues

Autores: Alexios Papadimitriou; Ioannis Kleitsiotis; Ioannis Kostavelis; Ioannis Mariolis; Dimitrios Giakoumis; Spiriden Likothanassis; Dimitrios Tzovaras
Publicado en: Crossref, Edición 5, 2022
Editor: IEEE
DOI: 10.1109/icra46639.2022.9812419

Benchmark of visual and 3D lidar SLAM systems in simulation environment for vineyards

Autores: Hroob, Ibrahim; Polvara, Riccardo; Molina, Sergi; Cielniak, Grzegorz; Hanheide, Marc
Publicado en: 2022
Editor: -
DOI: 10.5281/zenodo.5184874

Peer reviewed articles (8)

Bacchus Long‐Term (BLT) data set: Acquisition of the agricultural multimodal BLT data set with automated robot deployment

Autores: Polvara, Riccardo; Molina, Sergi; Hroob, Ibrahim; Papadimitriou, Alexios; Tsiolis, Konstantinos; Giakoumis, Dimitrios; Likothanassis, Spiridon; Tzovaras, Dimitrios; Cielniak, Grzegorz; Hanheide, Marc
Publicado en: Journal of Field Robotics, Edición 3, 2022, ISSN 1556-4959
Editor: John Wiley & Sons Ltd.
DOI: 10.1002/rob.22228

An Overview of Cooperative Robotics in Agriculture

Autores: Chris Lytridis; Vassilis G. Kaburlasos; Theodore Pachidis; Michalis Manios; Eleni Vrochidou; Theofanis Kalampokas; Stamatis Chatzistamatis
Publicado en: Agronomy, Vol 11, Iss 1818, p 1818 (2021), Edición 3, 2021, ISSN 2073-4395
Editor: MDPI
DOI: 10.3390/agronomy11091818

Learning Push-Grasping in Dense Clutter

Autores: Marios Kiatos; Iason Sarantopoulos; Leonidas Koutras; Sotiris Malassiotis; Zoe Doulgeri
Publicado en: Crossref, Edición 1, 2022, ISSN 2377-3766
Editor: IEEE
DOI: 10.1109/lra.2022.3188437

A Survey of Robotic Harvesting Systems and Enabling Technologies

Autores: Leonidas Droukas; Zoe Doulgeri; Nikolaos L. Tsakiridis; Dimitra Triantafyllou; Ioannis Kleitsiotis; Ioannis Mariolis; Dimitrios Giakoumis; Dimitrios Tzovaras; Dimitrios Kateris; Dionysis Bochtis
Publicado en: Crossref, Edición 6, 2023, ISSN 0921-0296
Editor: Kluwer Academic Publishers
DOI: 10.1007/s10846-022-01793-z

Estimation of Sugar Content in Wine Grapes via In Situ VNIR–SWIR Point Spectroscopy Using Explainable Artificial Intelligence Techniques

Autores: Eleni Kalopesa; Konstantinos Karyotis; Nikolaos Tziolas; Nikolaos Tsakiridis; Nikiforos Samarinas; George Zalidis
Publicado en: Sensors; Volume 23; Edición 3; Pages: 1065, Edición 3, 2023, ISSN 1424-8220
Editor: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23031065

Total Singulation With Modular Reinforcement Learning

Autores: Iason Sarantopoulos, Marios Kiatos, Zoe Doulgeri, Sotiris Malassiotis
Publicado en: IEEE Robotics and Automation Letters, Edición 6/2, 2021, Página(s) 4117-4124, ISSN 2377-3766
Editor: ΙΕΕΕ
DOI: 10.1109/lra.2021.3062295

In situ grape ripeness estimation via hyperspectral imaging and deep autoencoders

Autores: Tsakiridis, Nikolaos; Samarinas, Nikiforos; Kokkas, Stylianos; Kalopesa, Eleni; Tziolas, Nikolaos; Zalidis, George
Publicado en: Computers and Electronics in Agriculture, Edición 3, 2023, ISSN 0168-1699
Editor: Elsevier BV
DOI: 10.1016/j.compag.2023.108098

Rapid Determination of Wine Grape Maturity Level from pH, Titratable Acidity, and Sugar Content Using Non-Destructive In Situ Infrared Spectroscopy and Multi-Head Attention Convolutional Neural Networks

Autores: Eleni Kalopesa; Theodoros Gkrimpizis; Nikiforos Samarinas; Nikolaos L. Tsakiridis; George C. Zalidis
Publicado en: Crossref, Edición 2, 2023, ISSN 1424-8220
Editor: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23239536