Activities during RP1:
i. Definition of the requirement, the specification, and the benchmark for the design of the proposed integrated system;
ii. Definition of the specifications, the design, and the integration of the “basic common structure” for the two robotic prototypes;
iii. Definition of the specifications, the design, and the implementation of the first version of: i) the dual-arm system with actuated torso (with one arm only); ii) the end effector prototype for harvesting; iii) the box-exchange-mechanism (BEM);
iv. Implementation of the basic functionalities of the mobile bases;
v. Implementation of the basic functionalities of the dual-arm system of the farming prototype;
vi. Implementation of agronomic-oriented perception functionalities;
vii. Implementation of basic functionalities for HRI and HRC;
viii. Execution of field data collection campaigns for algorithm design and field validation;
ix. Implementation of the core functionalities of the Virtual-Reality architecture;
x. Development of the core methodologies for distributed estimation, collaboration, and learning by demonstration in a multi-robot and multi-human scenario;
xi. Dissemination and promotion of the project activities.
Activities during RP2:
i. Development of prototypes 1.1 (single-arm) and 1.2 (dual-arm) of the farming manipulator;
ii. Development of the core components of the BEM;
iii. Completion of the implementation of the basic functionalities of the dual-arm system, ranging from the kinematic control strategies for single and dual-arm manipulation to the control strategies for safe HRI;
iv. Completion of the implementation of the functionalities for HRI and HRC, such as the development of a human body prediction method;
v. Completion of the implementation of a feature-complete simulation environment, covering architecture and software realization;
vi. Completion and field validation of the BEM coordination methodologies, and advancement of the methods for distributed estimation, collaboration, and learning from demonstration (LfD);
vii. Dissemination and promotion of the project activities.
Activities during RP3:
i. Development of the final version (2.0) of the dual-arm prototype;
ii. Completion of the BEM system with storage unit on the logistic robot;
iii. Field validation of the functionalities of the dual-arm system, ranging from the kinematic to the physical control strategies;
iv. Completion and field validation of the functionalities for HRI and HRC, such as the natural language communication with the human operator;
v. Completion of the implementation of all features in the VR, including the updated BEM module;
vi. Completion and field validation of the BEM coordination methodologies and advancement of the methodologies for distributed estimation and multi-robot coordination;
vii. Completion and validation in VR of the LfD methodologies and advancement of the strategies for multi-robot task planning;
viii. Integration of all the components, ranging from the navigation and manipulation functionalities to the high-level HRI, and field validation of the integrated system.
ix. Dissemination and promotion of the project activities.
