This is the Distributed Robotic Garden project for the Distributed Robotics Group, led by Professor Daniela Rus, at CSAIL, MIT. This project consists of multiple robots interacting with each other and with intelligent pots to take care of the plants. The robots can water the plant, do a plant inventory and harvest. The image processing and arm control was done by Daniel Soltero, with open source softwares SwisTrack and ROS. The navigation system was done by Nikos Arechiga. This project was directly supervised by Dr. Nikolaus Correll.
The inventory task consists of a systematic scan of the plant, recording the description of each tomato when detected. The harvesting tasks consists of selecting a previously detected tomato from the inventory, based on percentages, and using image Jacobians to servo the arm.
The complete description is found in:
N. Correll, et al. "Building a Distributed Robot Garden." In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2009, St. Louis, MO.
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