{"id":"https://openalex.org/W4405785689","doi":"https://doi.org/10.1109/iros58592.2024.10802082","title":"HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers","display_name":"HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405785689","doi":"https://doi.org/10.1109/iros58592.2024.10802082"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802082","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5034330517","display_name":"Christian Lenz","orcid":"https://orcid.org/0000-0003-0953-0019"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Christian Lenz","raw_affiliation_strings":["Autonomous Intelligent Systems Lab, University of Bonn,Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Lab, University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103089658","display_name":"Rohit Menon","orcid":"https://orcid.org/0000-0001-9724-1182"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Rohit Menon","raw_affiliation_strings":["Humanoid Robots Lab, University of Bonn,Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5072774427","display_name":"Michael Schreiber","orcid":"https://orcid.org/0000-0003-2228-9258"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Michael Schreiber","raw_affiliation_strings":["Autonomous Intelligent Systems Lab, University of Bonn,Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Lab, University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046817893","display_name":"Melvin Paul Jacob","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Melvin Paul Jacob","raw_affiliation_strings":["Humanoid Robots Lab, University of Bonn,Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5027761977","display_name":"Sven Behnke","orcid":"https://orcid.org/0000-0002-5040-7525"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sven Behnke","raw_affiliation_strings":["Autonomous Intelligent Systems Lab, University of Bonn,Germany"],"affiliations":[{"raw_affiliation_string":"Autonomous Intelligent Systems Lab, University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["Humanoid Robots Lab, University of Bonn,Germany"],"affiliations":[{"raw_affiliation_string":"Humanoid Robots Lab, University of Bonn,Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5034330517"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":7.7803,"has_fulltext":false,"cited_by_count":12,"citation_normalized_percentile":{"value":0.97216742,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"31","last_page":"38"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10616","display_name":"Smart Agriculture and AI","score":0.9927999973297119,"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":0.9927999973297119,"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/T12093","display_name":"Greenhouse Technology and Climate Control","score":0.9764999747276306,"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/T12660","display_name":"Plant Disease Management Techniques","score":0.9419000148773193,"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/horticulture","display_name":"Horticulture","score":0.585952877998352},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4139937162399292},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.394045889377594},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.30281251668930054},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.17036721110343933}],"concepts":[{"id":"https://openalex.org/C144027150","wikidata":"https://www.wikidata.org/wiki/Q48803","display_name":"Horticulture","level":1,"score":0.585952877998352},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4139937162399292},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.394045889377594},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.30281251668930054},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.17036721110343933}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802082","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802082","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Zero hunger","score":0.7900000214576721,"id":"https://metadata.un.org/sdg/2"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W1925668245","https://openalex.org/W2037841262","https://openalex.org/W2152864241","https://openalex.org/W2412479917","https://openalex.org/W2587218622","https://openalex.org/W2593868148","https://openalex.org/W2630837129","https://openalex.org/W2738156096","https://openalex.org/W2794056821","https://openalex.org/W2919379406","https://openalex.org/W3004299129","https://openalex.org/W3036371522","https://openalex.org/W3126385256","https://openalex.org/W3134010067","https://openalex.org/W3205434725","https://openalex.org/W3205636718","https://openalex.org/W4281640216","https://openalex.org/W4287848462","https://openalex.org/W4312228941","https://openalex.org/W4385304896","https://openalex.org/W4386598135","https://openalex.org/W4387375948","https://openalex.org/W4389666779","https://openalex.org/W4391305509","https://openalex.org/W6636808768","https://openalex.org/W6746680119"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W4391375266","https://openalex.org/W2082860237","https://openalex.org/W2119695867","https://openalex.org/W2130076355","https://openalex.org/W1990804418","https://openalex.org/W1993764875","https://openalex.org/W2046158694","https://openalex.org/W2788277189"],"abstract_inverted_index":{"Horticultural":[0],"tasks":[1,20],"such":[2,32],"as":[3,33,69],"pruning":[4],"and":[5,11,41,65,89,94,124,129,137],"selective":[6,133],"harvesting":[7,134],"are":[8,14],"labor":[9],"intensive":[10],"horticultural":[12],"staff":[13],"hard":[15],"to":[16,24,99,115,131],"find.":[17],"Automating":[18],"these":[19],"is":[21],"challenging":[22],"due":[23],"the":[25,42,56,139],"semi-structured":[26],"greenhouse":[27],"workspaces,":[28],"changing":[29],"environmental":[30],"conditions":[31],"lighting,":[34],"dense":[35],"plant":[36,49,165],"growth":[37],"with":[38,60,148],"many":[39],"occlusions,":[40],"need":[43],"for":[44,63,73,121,153],"gentle":[45],"manipulation":[46,64,130],"of":[47,104,135],"non-rigid":[48],"organs.":[50],"In":[51],"this":[52],"work,":[53],"we":[54],"present":[55],"three-armed":[57],"system":[58,81,140],"HortiBot,":[59],"two":[61],"arms":[62,114],"a":[66,101],"third":[67],"arm":[68],"an":[70],"articulated":[71],"head":[72],"active":[74,145],"perception":[75,80,128,146],"using":[76],"stereo":[77],"cameras.":[78],"Its":[79],"detects":[82],"not":[83],"only":[84],"peppers,":[85],"but":[86],"also":[87],"peduncles":[88],"stems":[90],"in":[91,141,161],"real":[92],"time,":[93],"performs":[95],"online":[96,108],"data":[97],"association":[98],"build":[100],"world":[102],"model":[103],"pepper":[105,164],"plants.":[106],"Collision-aware":[107],"trajectory":[109],"generation":[110],"allows":[111],"all":[112],"three":[113],"safely":[116],"track":[117],"their":[118],"respective":[119],"targets":[120],"observation,":[122],"grasping,":[123],"cutting.":[125],"We":[126],"integrated":[127],"perform":[132],"peppers":[136],"evaluated":[138],"lab":[142],"experiments.":[143],"Using":[144],"coupled":[147],"end-effector":[149],"force":[150],"torque":[151],"sensing":[152],"compliant":[154],"manipulation,":[155],"HortiBot":[156],"achieves":[157],"high":[158],"success":[159],"rates":[160],"our":[162],"indoor":[163],"mock-up.":[166]},"counts_by_year":[{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":1}],"updated_date":"2025-12-27T23:08:20.325037","created_date":"2025-10-10T00:00:00"}
