{"id":"https://openalex.org/W3217595080","doi":"https://doi.org/10.55417/fr.2022051","title":"Bumblebee: A Path Towards Fully Autonomous Robotic Vine Pruning","display_name":"Bumblebee: A Path Towards Fully Autonomous Robotic Vine Pruning","publication_year":2022,"publication_date":"2022-08-01","ids":{"openalex":"https://openalex.org/W3217595080","doi":"https://doi.org/10.55417/fr.2022051","mag":"3217595080"},"language":"en","primary_location":{"id":"doi:10.55417/fr.2022051","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022051","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://doi.org/10.55417/fr.2022051","any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5016610643","display_name":"Abhisesh Silwal","orcid":"https://orcid.org/0000-0002-1710-6704"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Abhisesh Silwal","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15217"],"raw_orcid":"https://orcid.org/0000-0002-1710-6704","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15217","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110763507","display_name":"Francisco Yand\u00fan","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Francisco Yandun","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15217"],"raw_orcid":"https://orcid.org/0000-0001-9313-7302","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15217","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061337796","display_name":"Anjana Nellithimaru","orcid":"https://orcid.org/0000-0001-5732-4688"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Anjana Nellithimaru","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15217"],"raw_orcid":"https://orcid.org/0000-0001-5732-4688","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15217","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010187552","display_name":"Terence R. Bates","orcid":"https://orcid.org/0000-0002-6719-9435"},"institutions":[{"id":"https://openalex.org/I205783295","display_name":"Cornell University","ror":"https://ror.org/05bnh6r87","country_code":"US","type":"education","lineage":["https://openalex.org/I205783295"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Terry Bates","raw_affiliation_strings":["CLEREL, Cornell University, Portland, NY 14769"],"raw_orcid":"https://orcid.org/0000-0002-6719-9435","affiliations":[{"raw_affiliation_string":"CLEREL, Cornell University, Portland, NY 14769","institution_ids":["https://openalex.org/I205783295"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5067346459","display_name":"George Kantor","orcid":"https://orcid.org/0000-0001-7088-8533"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"George Kantor","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15217"],"raw_orcid":"https://orcid.org/0000-0001-7088-8533","affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15217","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":8.4345,"has_fulltext":false,"cited_by_count":50,"citation_normalized_percentile":{"value":0.97674137,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"2","issue":null,"first_page":"1661","last_page":"1696"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11796","display_name":"Horticultural and Viticultural Research","score":0.9968000054359436,"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/T11796","display_name":"Horticultural and Viticultural Research","score":0.9968000054359436,"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/T10616","display_name":"Smart Agriculture and AI","score":0.9926999807357788,"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/T12161","display_name":"Plant Surface Properties and Treatments","score":0.9922000169754028,"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/vineyard","display_name":"Vineyard","score":0.9333285093307495},{"id":"https://openalex.org/keywords/pruning","display_name":"Pruning","score":0.9137500524520874},{"id":"https://openalex.org/keywords/vine","display_name":"Vine","score":0.7413784265518188},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.48573237657546997},{"id":"https://openalex.org/keywords/field","display_name":"Field (mathematics)","score":0.47828635573387146},{"id":"https://openalex.org/keywords/robotic-arm","display_name":"Robotic arm","score":0.4698088765144348},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4648299217224121},{"id":"https://openalex.org/keywords/path","display_name":"Path (computing)","score":0.4594813585281372},{"id":"https://openalex.org/keywords/bumblebee","display_name":"Bumblebee","score":0.43370765447616577},{"id":"https://openalex.org/keywords/agricultural-engineering","display_name":"Agricultural engineering","score":0.3720967173576355},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36893734335899353},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.28557467460632324},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2779184877872467},{"id":"https://openalex.org/keywords/horticulture","display_name":"Horticulture","score":0.16023975610733032},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.10362681746482849},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.0882292091846466}],"concepts":[{"id":"https://openalex.org/C2780924976","wikidata":"https://www.wikidata.org/wiki/Q22715","display_name":"Vineyard","level":2,"score":0.9333285093307495},{"id":"https://openalex.org/C108010975","wikidata":"https://www.wikidata.org/wiki/Q500094","display_name":"Pruning","level":2,"score":0.9137500524520874},{"id":"https://openalex.org/C2781214258","wikidata":"https://www.wikidata.org/wiki/Q917284","display_name":"Vine","level":2,"score":0.7413784265518188},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.48573237657546997},{"id":"https://openalex.org/C9652623","wikidata":"https://www.wikidata.org/wiki/Q190109","display_name":"Field (mathematics)","level":2,"score":0.47828635573387146},{"id":"https://openalex.org/C150415221","wikidata":"https://www.wikidata.org/wiki/Q40687","display_name":"Robotic arm","level":2,"score":0.4698088765144348},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4648299217224121},{"id":"https://openalex.org/C2777735758","wikidata":"https://www.wikidata.org/wiki/Q817765","display_name":"Path (computing)","level":2,"score":0.4594813585281372},{"id":"https://openalex.org/C2776704645","wikidata":"https://www.wikidata.org/wiki/Q25407","display_name":"Bumblebee","level":5,"score":0.43370765447616577},{"id":"https://openalex.org/C88463610","wikidata":"https://www.wikidata.org/wiki/Q194118","display_name":"Agricultural engineering","level":1,"score":0.3720967173576355},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36893734335899353},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.28557467460632324},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2779184877872467},{"id":"https://openalex.org/C144027150","wikidata":"https://www.wikidata.org/wiki/Q48803","display_name":"Horticulture","level":1,"score":0.16023975610733032},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.10362681746482849},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0882292091846466},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C202444582","wikidata":"https://www.wikidata.org/wiki/Q837863","display_name":"Pure mathematics","level":1,"score":0.0},{"id":"https://openalex.org/C102789151","wikidata":"https://www.wikidata.org/wiki/Q1141466","display_name":"Pollinator","level":4,"score":0.0},{"id":"https://openalex.org/C2780618852","wikidata":"https://www.wikidata.org/wiki/Q79932","display_name":"Pollen","level":2,"score":0.0},{"id":"https://openalex.org/C168197293","wikidata":"https://www.wikidata.org/wiki/Q134624","display_name":"Pollination","level":3,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.55417/fr.2022051","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022051","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"}],"best_oa_location":{"id":"doi:10.55417/fr.2022051","is_oa":true,"landing_page_url":"https://doi.org/10.55417/fr.2022051","pdf_url":null,"source":{"id":"https://openalex.org/S4387279083","display_name":"Field Robotics","issn_l":"2771-3989","issn":["2771-3989"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Field Robotics","raw_type":"journal-article"},"sustainable_development_goals":[{"score":0.6899999976158142,"display_name":"Decent work and economic growth","id":"https://metadata.un.org/sdg/8"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":52,"referenced_works":["https://openalex.org/W1543194407","https://openalex.org/W1925668245","https://openalex.org/W1972949070","https://openalex.org/W1974868116","https://openalex.org/W1978685206","https://openalex.org/W1984789540","https://openalex.org/W2004312117","https://openalex.org/W2014775467","https://openalex.org/W2021231760","https://openalex.org/W2026851943","https://openalex.org/W2045030913","https://openalex.org/W2047412445","https://openalex.org/W2068127265","https://openalex.org/W2071390953","https://openalex.org/W2096825441","https://openalex.org/W2117831564","https://openalex.org/W2129549724","https://openalex.org/W2133665775","https://openalex.org/W2141664020","https://openalex.org/W2157150618","https://openalex.org/W2172016471","https://openalex.org/W2186007545","https://openalex.org/W2197229444","https://openalex.org/W2203148993","https://openalex.org/W2343847865","https://openalex.org/W2396098103","https://openalex.org/W2410401911","https://openalex.org/W2472944192","https://openalex.org/W2528895427","https://openalex.org/W2533752934","https://openalex.org/W2548302254","https://openalex.org/W2551773494","https://openalex.org/W2598645336","https://openalex.org/W2613718673","https://openalex.org/W2742069755","https://openalex.org/W2767786971","https://openalex.org/W2791184140","https://openalex.org/W2799811398","https://openalex.org/W2808390209","https://openalex.org/W2894116595","https://openalex.org/W2900019775","https://openalex.org/W2947228057","https://openalex.org/W2971430429","https://openalex.org/W3006598463","https://openalex.org/W3020952808","https://openalex.org/W3036919210","https://openalex.org/W3049104193","https://openalex.org/W3099329736","https://openalex.org/W3100603203","https://openalex.org/W3119304907","https://openalex.org/W3169777972","https://openalex.org/W3207269243"],"related_works":["https://openalex.org/W2898025836","https://openalex.org/W3097030838","https://openalex.org/W1802164710","https://openalex.org/W1602246562","https://openalex.org/W4256051447","https://openalex.org/W2972812246","https://openalex.org/W78899793","https://openalex.org/W4236138846","https://openalex.org/W4255262242","https://openalex.org/W2993388975"],"abstract_inverted_index":{"Dormant":[0],"season":[1,88,157],"grapevine":[2],"pruning":[3,85,135,158],"requires":[4],"skilled":[5],"seasonal":[6,28],"workers,":[7],"but":[8],"they":[9],"are":[10,35,59,181],"becoming":[11],"less":[12,22],"available.":[13],"As":[14],"workers":[15],"hasten":[16],"to":[17,25,40,119,161],"prune":[18],"more":[19],"vines":[20,34,124],"in":[21,107,129,146,155,183],"time":[23],"due":[24],"the":[26,71,108,143,184],"short-term":[27],"hiring":[29],"culture":[30],"and":[31,73,79,104],"low":[32],"wages,":[33],"often":[36,60],"pruned":[37,48],"inconsistently,":[38],"leading":[39],"imbalanced":[41],"grapevines.":[42,89],"In":[43,66],"addition,":[44],"grapevines":[45],"cannot":[46],"be":[47],"selectively":[49],"using":[50],"currently":[51],"existing":[52],"mechanical":[53,162],"methods,":[54],"thus":[55],"manual":[56],"follow-up":[57],"operations":[58],"required,":[61],"further":[62],"increasing":[63],"production":[64],"cost.":[65],"this":[67],"paper,":[68],"we":[69],"present":[70],"design":[72,92,166],"field":[74,140],"evaluation":[75],"of":[76,86,123,137,142],"a":[77,97,101,121,133,147,177],"rugged":[78],"fully":[80],"autonomous":[81,144],"robot":[82,115],"for":[83],"end-to-end":[84],"dormant":[87,156],"The":[90,111,165],"proposed":[91],"incorporates":[93],"novel":[94,105],"camera":[95],"systems,":[96],"kinematically":[98],"redundant":[99],"manipulator,":[100],"ground":[102],"robot,":[103],"algorithms":[106],"perception":[109],"system.":[110],"presented":[112],"research":[113],"prototype":[114],"system":[116,145,168],"was":[117],"able":[118],"spur-prune":[120],"row":[122],"from":[125],"both":[126],"sides":[127],"completely":[128],"213":[130],"s/vine":[131],"with":[132],"total":[134],"accuracy":[136],"87%.":[138],"Initial":[139],"tests":[141],"commercial":[148],"vineyard":[149],"have":[150],"shown":[151],"significant":[152],"variability":[153],"reduction":[154],"when":[159],"compared":[160],"prepruning":[163],"trials.":[164],"approach,":[167],"components,":[169],"lessons":[170],"learned,":[171],"future":[172],"enhancements,":[173],"as":[174,176],"well":[175],"brief":[178],"economic":[179],"analysis":[180],"described":[182],"manuscript.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":8},{"year":2025,"cited_by_count":15},{"year":2024,"cited_by_count":14},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":2}],"updated_date":"2026-07-14T08:27:34.040176","created_date":"2025-10-10T00:00:00"}