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Authors: Andrea Fimiani 1 ; Pierluigi Arpenti 1 ; Matteo Gatti 2 and Fabio Ruggiero 1

Affiliations: 1 Dip. di Ingeg. Elet. e Tecn. dell’Inform., Università degli Studi di Napoli Federico II, Via Claudio 21, Napoli, Italy ; 2 Dipartimento di Scienze delle Produzioni Vegetali Sostenibili, Università Cattolica del Sacro Cuore, Piacenza, Italy

Keyword(s): Agricultural Automation, Robotic Pruning, Momentum-Based Observer.

Abstract: Agricultural sector faces challenges like high labour costs and a shortage of qualified workers for repetitive tasks, leading to increased interest in agricultural robotics. Pruning is a focus for automation efforts worldwide. However, pruning robots struggle with slow and inaccurate vision systems, resulting in slow, costly, and potentially harmful operations for plants. This study aims to provide a reproducible and reliable method for detecting contact with grapevines during pruning, minimising potential damage, and improving vision system speed by reducing cane oscillations. The proposed approach uses a momentum-based observer, eliminating the need for force sensors. Experiments on Vitis vinifera cv. Pinot Noir canes validated this methodology.

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Paper citation in several formats:
Fimiani, A.; Arpenti, P.; Gatti, M. and Ruggiero, F. (2023). Sensorless Reduction of Cane Oscillations Aimed at Improving Robotic Grapevine Winter Pruning. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5; ISSN 2184-2809, SciTePress, pages 640-647. DOI: 10.5220/0012182500003543

@conference{icinco23,
author={Andrea Fimiani. and Pierluigi Arpenti. and Matteo Gatti. and Fabio Ruggiero.},
title={Sensorless Reduction of Cane Oscillations Aimed at Improving Robotic Grapevine Winter Pruning},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={640-647},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012182500003543},
isbn={978-989-758-670-5},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Sensorless Reduction of Cane Oscillations Aimed at Improving Robotic Grapevine Winter Pruning
SN - 978-989-758-670-5
IS - 2184-2809
AU - Fimiani, A.
AU - Arpenti, P.
AU - Gatti, M.
AU - Ruggiero, F.
PY - 2023
SP - 640
EP - 647
DO - 10.5220/0012182500003543
PB - SciTePress

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