{"id":"https://openalex.org/W4387143503","doi":"https://doi.org/10.1109/case56687.2023.10260651","title":"Towards Vision-Based Dual Arm Robotic Fruit Harvesting","display_name":"Towards Vision-Based Dual Arm Robotic Fruit Harvesting","publication_year":2023,"publication_date":"2023-08-26","ids":{"openalex":"https://openalex.org/W4387143503","doi":"https://doi.org/10.1109/case56687.2023.10260651"},"language":"en","primary_location":{"id":"doi:10.1109/case56687.2023.10260651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260651","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hal.science/hal-04371347/document","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047807174","display_name":"E. Gursoy","orcid":"https://orcid.org/0009-0009-6022-8780"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]},{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU","FR"],"is_corresponding":false,"raw_author_name":"Ege Gursoy","raw_affiliation_strings":["Univ. Montpellier,LIRMM, CNRS,Montpellier,France","LIRMM, CNRS, Univ. Montpellier, Montpellier, France","Monash University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Montpellier,LIRMM, CNRS,Montpellier,France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, CNRS, Univ. Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5059291133","display_name":"Benjamin Navarro","orcid":"https://orcid.org/0000-0001-6757-5376"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Benjamin Navarro","raw_affiliation_strings":["Univ. Montpellier,LIRMM, CNRS,Montpellier,France","LIRMM, CNRS, Univ. Montpellier, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Montpellier,LIRMM, CNRS,Montpellier,France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, CNRS, Univ. Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028574557","display_name":"Akansel Cosgun","orcid":"https://orcid.org/0000-0003-4203-6477"},"institutions":[{"id":"https://openalex.org/I149704539","display_name":"Deakin University","ror":"https://ror.org/02czsnj07","country_code":"AU","type":"education","lineage":["https://openalex.org/I149704539"]},{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Akansel Cosgun","raw_affiliation_strings":["Monash University,Australia","Monash University, Australia","Deakin University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monash University,Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"Deakin University, Australia","institution_ids":["https://openalex.org/I149704539"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072377971","display_name":"Dana Kuli\u0107","orcid":"https://orcid.org/0000-0002-4169-2141"},"institutions":[{"id":"https://openalex.org/I56590836","display_name":"Monash University","ror":"https://ror.org/02bfwt286","country_code":"AU","type":"education","lineage":["https://openalex.org/I56590836"]}],"countries":["AU"],"is_corresponding":false,"raw_author_name":"Dana Kuli\u0107","raw_affiliation_strings":["Monash University,Australia","Monash University, Australia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Monash University,Australia","institution_ids":["https://openalex.org/I56590836"]},{"raw_affiliation_string":"Monash University, Australia","institution_ids":["https://openalex.org/I56590836"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022568011","display_name":"Andrea Cherubini","orcid":"https://orcid.org/0000-0002-7272-6922"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andrea Cherubini","raw_affiliation_strings":["Univ. Montpellier,LIRMM, CNRS,Montpellier,France","LIRMM, CNRS, Univ. Montpellier, Montpellier, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Univ. Montpellier,LIRMM, CNRS,Montpellier,France","institution_ids":["https://openalex.org/I19894307","https://openalex.org/I1294671590","https://openalex.org/I4210101743"]},{"raw_affiliation_string":"LIRMM, CNRS, Univ. Montpellier, Montpellier, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"6"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12729","display_name":"Tree Root and Stability Studies","score":0.9560999870300293,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10494","display_name":"Plant Virus Research Studies","score":0.9448000192642212,"subfield":{"id":"https://openalex.org/subfields/1110","display_name":"Plant Science"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7802436351776123},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7079099416732788},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.6889752149581909},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6567476987838745},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6290630102157593},{"id":"https://openalex.org/keywords/arm-solution","display_name":"Arm solution","score":0.5569164156913757},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5477981567382812},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.541526734828949},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3284810781478882}],"concepts":[{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7802436351776123},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7079099416732788},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.6889752149581909},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6567476987838745},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6290630102157593},{"id":"https://openalex.org/C25592040","wikidata":"https://www.wikidata.org/wiki/Q3562730","display_name":"Arm solution","level":5,"score":0.5569164156913757},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5477981567382812},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.541526734828949},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3284810781478882}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case56687.2023.10260651","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case56687.2023.10260651","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:hal-04371347v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04371347","pdf_url":"https://hal.science/hal-04371347/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"CASE 2023 - IEEE 19th International Conference on Automation Science and Engineering, Aug 2023, Auckland, New Zealand. pp.1-6, ⟨10.1109/case56687.2023.10260651⟩","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:HAL:hal-04371347v1","is_oa":true,"landing_page_url":"https://hal.science/hal-04371347","pdf_url":"https://hal.science/hal-04371347/document","source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"CASE 2023 - IEEE 19th International Conference on Automation Science and Engineering, Aug 2023, Auckland, New Zealand. pp.1-6, ⟨10.1109/case56687.2023.10260651⟩","raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[{"score":0.6399999856948853,"display_name":"Zero hunger","id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387143503.pdf"},"referenced_works_count":30,"referenced_works":["https://openalex.org/W1659349535","https://openalex.org/W1861492603","https://openalex.org/W2004409499","https://openalex.org/W2005286199","https://openalex.org/W2064245748","https://openalex.org/W2072150826","https://openalex.org/W2104906962","https://openalex.org/W2164626235","https://openalex.org/W2549228492","https://openalex.org/W2573063466","https://openalex.org/W2594680180","https://openalex.org/W2603203130","https://openalex.org/W2766822417","https://openalex.org/W2906986610","https://openalex.org/W2913798177","https://openalex.org/W2920621226","https://openalex.org/W2943973975","https://openalex.org/W2984145721","https://openalex.org/W2989928569","https://openalex.org/W2997004889","https://openalex.org/W2997692196","https://openalex.org/W3004977026","https://openalex.org/W3040547430","https://openalex.org/W3099828420","https://openalex.org/W3120062158","https://openalex.org/W3126385256","https://openalex.org/W4287728744","https://openalex.org/W6639102338","https://openalex.org/W6735014785","https://openalex.org/W6745405732"],"related_works":["https://openalex.org/W4390695967","https://openalex.org/W2036081980","https://openalex.org/W3201274123","https://openalex.org/W4361770474","https://openalex.org/W2108575589","https://openalex.org/W4388893656","https://openalex.org/W1505290414","https://openalex.org/W2605331264","https://openalex.org/W3110580084","https://openalex.org/W2715426920"],"abstract_inverted_index":{"Interest":[0],"in":[1,7,16,37,132],"agricultural":[2,38],"robotics":[3,39],"has":[4],"increased":[5],"considerably":[6],"recent":[8],"years":[9],"due":[10],"to":[11,73,90,98,121],"benefits":[12],"such":[13],"as":[14,126,128],"improvement":[15],"productivity":[17],"and":[18,64,101,109,116,123,144],"labor":[19],"reduction.":[20],"However,":[21],"current":[22],"problems":[23],"associated":[24],"with":[25,59],"unstructured":[26],"environments":[27],"make":[28],"the":[29,69,75,78,92,99,129,133],"development":[30],"of":[31,77,94],"robotic":[32],"harvesters":[33],"challenging.":[34],"Most":[35],"research":[36],"focuses":[40],"on":[41,140,148],"single":[42],"arm":[43],"manipulation.":[44],"Here,":[45],"we":[46],"propose":[47],"a":[48,53,60,83],"dual-arm":[49,54,79],"approach.":[50],"We":[51,67,81,112,135],"present":[52],"fruit":[55],"harvesting":[56],"robot":[57,100,103,106],"equipped":[58],"RGB-D":[61,142],"camera,":[62],"cutting":[63],"collecting":[65],"tools.":[66],"exploit":[68],"cooperative":[70],"task":[71],"description":[72],"maximize":[74],"capabilities":[76],"robot.":[80],"designed":[82],"Hierarchical":[84],"Quadratic":[85],"Programming":[86],"based":[87],"control":[88,146],"strategy":[89],"fulfill":[91],"set":[93],"hard":[95],"constrains":[96],"related":[97],"environment:":[102],"joint":[104],"limits,":[105],"self-collisions,":[107],"robot-fruit":[108],"robot-tree":[110],"collisions.":[111],"combine":[113],"deep":[114],"learning":[115],"standard":[117],"image":[118],"processing":[119],"algorithms":[120],"detect":[122],"track":[124],"fruits":[125],"well":[127],"tree":[130],"trunk":[131],"scene.":[134],"validate":[136],"our":[137,145],"perception":[138],"methods":[139],"real-world":[141],"images":[143],"method":[147],"simulated":[149],"experiments.":[150]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":4}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}