MoBile Robotic PlAtforms for ACtive InspeCtion and Harvesting in AgricUltural AreaS

Informacje na temat projektu

BACCHUS

Identyfikator umowy o grant: 871704

DOI 10.3030/871704

Projekt został zamknięty

Data podpisania przez KE 5 Grudnia 2019

Data rozpoczęcia 1 Stycznia 2020

Data zakończenia 30 Listopada 2023

Finansowanie w ramach

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

Koszt całkowity € 5 104 943,75

Wkład UE € 5 104 943,75

Koordynowany przez

ARISTOTELIO PANEPISTIMIO THESSALONIKIS
Greece

Rezultaty

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

Publikacje

Conference proceedings (29)

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

Autorzy: Stavridis, Sotiris; Falco, Pietro; Doulgeri, Zoe
Opublikowane w: HUMANOIDS, Numer 3, 2021
Wydawca: 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

Autorzy: Papageorgiou Dimitrios; Koutras Leonidas; Doulgeri Zoe
Opublikowane w: 2022
Wydawca: IEEE
DOI: 10.5281/zenodo.7128778

Anisotropic Diffusion-Based Enhancement of Scene Segmentation with Instance Labels

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

Kinesthetic teaching of bi-manual tasks with known relative constraints

Autorzy: Sotiris Stavridis; Dimitrios Papageorgiou; Zoe Doulgeri
Opublikowane w: 2022
Wydawca: IEEE
DOI: 10.5281/zenodo.7223480

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

Autorzy: Polvara, Riccardo; Molina, Sergi; Hroob, Ibrahim; Cielniak, Grzegorz; Hanheide, Marc
Opublikowane w: 2022
Wydawca: -
DOI: 10.5281/zenodo.7135175

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

Autorzy: Vasileios Moysiadis; Dimitrios Kateris; Dimitrios Katikaridis; Giorgos Vasileiadis; Vasileios Kolorizos; Aristotelis C. Tagarakis; Dionysis Bochtis
Opublikowane w: 2022
Wydawca: -
DOI: 10.5281/zenodo.7123776

Bimanual crop manipulation for human-inspired robotic harvesting

Autorzy: Stavridis, Sotiris; Papageorgiou, Dimitrios; Droukas, Leonidas; Doulgeri, Zoe
Opublikowane w: Numer 1, 2023
Wydawca: -
DOI: 10.48550/arxiv.2209.06074

Split Deep Q-Learning for Robust Object Singulation *

Autorzy: Iason Sarantopoulos, Marios Kiatos, Zoe Doulgeri, Sotiris Malassiotis
Opublikowane w: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Strona(/y) 6225-6231, ISBN 978-1-7281-7395-5
Wydawca: IEEE
DOI: 10.1109/icra40945.2020.9196647

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

Autorzy: Nikolaos Tsakiridis; Eleni Kalopesa; Nikiforos Samarinas; George Zalidis; Nikolaos Tziolas
Opublikowane w: Numer 3, 2023
Wydawca: -
DOI: 10.5281/zenodo.7950241

An integrated weed detection system in vineyards

Autorzy: Moysiadis, Vasileios; Katikaridis, Dimitrios; Kateris, Dimitrios; Bochtis, Dionysis
Opublikowane w: Numer 2, 2022
Wydawca: -
DOI: 10.5281/zenodo.10548145

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

Autorzy: Bikas, Lampros; Rovithakis, George
Opublikowane w: 2022
Wydawca: IFAC
DOI: 10.5281/zenodo.7138570

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

Autorzy: George S. Kanakis, George A. Rovithakis
Opublikowane w: 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021, Strona(/y) 515-519, ISBN 978-1-6654-0492-1
Wydawca: IEEE
DOI: 10.1109/ro-man50785.2021.9515497

Autonomous UGV-based weed detection system for vineyards

Autorzy: Dimitrios Kateris; Damianos Kalaitzidis; Vasileios Moysiadis; Dimitrios Katikaridis; Aristotelis C. Tagarakis; Dionysis Bochtis;
Opublikowane w: EFITA 2021, Digital Agriculture Web Conference (EFITA 2021), 2021
Wydawca: -
DOI: 10.5281/zenodo.5286423

UAV-assisted topological mapping for AGV navigation in vineyards

Autorzy: Molina, Sergi; Cielniak, Grzegorz; Hanheide, Marc
Opublikowane w: 2022
Wydawca: -
DOI: 10.5281/zenodo.7135167

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

Autorzy: Rovithakis, George; Kechagias, Andreas
Opublikowane w: Numer 1, 2023
Wydawca: ECC
DOI: 10.23919/ECC57647.2023.10178365

Improved Reinforcement Learning Pushing Policies via Heuristic Rules

Autorzy: Kiatos, Marios; Sarantopoulos, Iason; Malassiotis, Sotiris; Doulgeri, Zoe
Opublikowane w: Numer 3, 2021
Wydawca: -
DOI: 10.48550/arxiv.2111.11156

Achieving Prescribed Performance for Uncertain Impulsive Systems in Brunovsky Canonical Form

Autorzy: Kechagias, Andreas; Rovithakis, George
Opublikowane w: Numer 1, 2023
Wydawca: IEEE
DOI: 10.1109/MED59994.2023.10185769

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

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

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

Autorzy: Hroob, Ibrahim; Molina, Sergi; Polvara, Riccardo; Cielniak, Grzegorz; Hanheide, Marc
Opublikowane w: Numer 6, 2023
Wydawca: -
DOI: 10.1109/ECMR59166.2023.10256419

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

Autorzy: Hroob, Ibrahim; Molina, Sergi; Polvara, Riccardo; Cielniak, Grzegorz; Hanheide, Marc
Opublikowane w: Numer 3, 2023
Wydawca: -
DOI: 10.48550/arxiv.2301.03426

From RGB images to Dynamic Movement Primitives for planar tasks

Autorzy: Sidiropoulos, Antonis; Doulgeri, Zoe
Opublikowane w: Numer 1, 2023
Wydawca: IEEE
DOI: 10.48550/arxiv.2303.03204

Achieving Prescribed Performance for Euler-Lagrange Systems with Impulsive Behaviour

Autorzy: Kechagias, Andreas; Rovithakis, George
Opublikowane w: 2022
Wydawca: IEEE
DOI: 10.5281/zenodo.6912777

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

Autorzy: Sotiris Stavridis; Pietro Falco; Zoe Doulgeri
Opublikowane w: Humanoids 2021, 2021
Wydawca: -
DOI: 10.5281/zenodo.5163236

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

Autorzy: Somaiya, Pratik; Pandya, Harit; Polvara, Riccardo; Hanheide, Marc; Cielniak, Grzegorz
Opublikowane w: 2022
Wydawca: -
DOI: 10.5281/zenodo.7135205

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

Autorzy: Koutras Leonidas; Doulgeri Zoe
Opublikowane w: 2021
Wydawca: IEEE
DOI: 10.5281/zenodo.5535870

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

Autorzy: Riccardo Polvara; Francesco Del Duchetto; Gerhard Neumann; Marc Hanheide
Opublikowane w: Numer 6, 2021
Wydawca: -
DOI: 10.1109/lra.2021.3094557

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

Autorzy: Polvara, Riccardo; Molina, Sergi; Tsiolis, Konstantinos; Papadimitriou, Alexios; Mariolis, Ioannis; Giakoumis, Dimitrios; Tzovaras, Dimitrios; Cielniak, Grzegorz; Hanheide, Marc
Opublikowane w: 2022
Wydawca: -
DOI: 10.5281/zenodo.7135191

Loop Closure Detection and SLAM in Vineyards with Deep Semantic Cues

Autorzy: Alexios Papadimitriou; Ioannis Kleitsiotis; Ioannis Kostavelis; Ioannis Mariolis; Dimitrios Giakoumis; Spiriden Likothanassis; Dimitrios Tzovaras
Opublikowane w: Crossref, Numer 5, 2022
Wydawca: IEEE
DOI: 10.1109/icra46639.2022.9812419

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

Autorzy: Hroob, Ibrahim; Polvara, Riccardo; Molina, Sergi; Cielniak, Grzegorz; Hanheide, Marc
Opublikowane w: 2022
Wydawca: -
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

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

An Overview of Cooperative Robotics in Agriculture

Autorzy: Chris Lytridis; Vassilis G. Kaburlasos; Theodore Pachidis; Michalis Manios; Eleni Vrochidou; Theofanis Kalampokas; Stamatis Chatzistamatis
Opublikowane w: Agronomy, Vol 11, Iss 1818, p 1818 (2021), Numer 3, 2021, ISSN 2073-4395
Wydawca: MDPI
DOI: 10.3390/agronomy11091818

Learning Push-Grasping in Dense Clutter

Autorzy: Marios Kiatos; Iason Sarantopoulos; Leonidas Koutras; Sotiris Malassiotis; Zoe Doulgeri
Opublikowane w: Crossref, Numer 1, 2022, ISSN 2377-3766
Wydawca: IEEE
DOI: 10.1109/lra.2022.3188437

A Survey of Robotic Harvesting Systems and Enabling Technologies

Autorzy: Leonidas Droukas; Zoe Doulgeri; Nikolaos L. Tsakiridis; Dimitra Triantafyllou; Ioannis Kleitsiotis; Ioannis Mariolis; Dimitrios Giakoumis; Dimitrios Tzovaras; Dimitrios Kateris; Dionysis Bochtis
Opublikowane w: Crossref, Numer 6, 2023, ISSN 0921-0296
Wydawca: 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

Autorzy: Eleni Kalopesa; Konstantinos Karyotis; Nikolaos Tziolas; Nikolaos Tsakiridis; Nikiforos Samarinas; George Zalidis
Opublikowane w: Sensors; Volume 23; Numer 3; Pages: 1065, Numer 3, 2023, ISSN 1424-8220
Wydawca: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23031065

Total Singulation With Modular Reinforcement Learning

Autorzy: Iason Sarantopoulos, Marios Kiatos, Zoe Doulgeri, Sotiris Malassiotis
Opublikowane w: IEEE Robotics and Automation Letters, Numer 6/2, 2021, Strona(/y) 4117-4124, ISSN 2377-3766
Wydawca: ΙΕΕΕ
DOI: 10.1109/lra.2021.3062295

In situ grape ripeness estimation via hyperspectral imaging and deep autoencoders

Autorzy: Tsakiridis, Nikolaos; Samarinas, Nikiforos; Kokkas, Stylianos; Kalopesa, Eleni; Tziolas, Nikolaos; Zalidis, George
Opublikowane w: Computers and Electronics in Agriculture, Numer 3, 2023, ISSN 0168-1699
Wydawca: 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

Autorzy: Eleni Kalopesa; Theodoros Gkrimpizis; Nikiforos Samarinas; Nikolaos L. Tsakiridis; George C. Zalidis
Opublikowane w: Crossref, Numer 2, 2023, ISSN 1424-8220
Wydawca: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23239536