Towards Closing the Loop in Robotic Pollination for Indoor Farming via Autonomous Microscopic Inspection
<|reference_start|>Towards Closing the Loop in Robotic Pollination for Indoor Farming via Autonomous Microscopic Inspection: Effective pollination is a key challenge for indoor farming, since bees struggle to navigate without the sun. While a variety of robotic system solutions have been proposed, it remains difficult to autonomously check that a flower has been sufficiently pollinated to produce high-quality fruit, which is especially critical for self-pollinating crops such as strawberries. To this end, this work proposes a novel robotic system for indoor farming. The proposed hardware combines a 7-degree-of-freedom (DOF) manipulator arm with a custom end-effector, comprised of an endoscope camera, a 2-DOF microscope subsystem, and a custom vibrating pollination tool; this is paired with algorithms to detect and estimate the pose of strawberry flowers, navigate to each flower, pollinate using the tool, and inspect with the microscope. The key novelty is vibrating the flower from below while simultaneously inspecting with a microscope from above. Each subsystem is validated via extensive experiments.<|reference_end|>
@article{kong2024towards,
    title={Towards Closing the Loop in Robotic Pollination for Indoor Farming via
  Autonomous Microscopic Inspection},
    author={Chuizheng Kong, Alex Qiu, Idris Wibowo, Marvin Ren, Aishik Dhori,
  Kai-Shu Ling, Ai-Ping Hu, and Shreyas Kousik},
    journal={arXiv preprint arXiv:2409.12311},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.12311},
    primaryClass={cs.RO cs.SY eess.SY}
}