Building a distributed robot garden

Authors:
Nikolaus Correll;Nikos Arechiga;Adrienne Bolger;Mario Bollini;Ben Charrow;Adam Clayton;Felipe Dominguez;Kenneth Donahue;Samuel Dyar;Luke Johnson;Huan Liu;Alexander Patrikalakis;Timothy Robertson;Jeremy Smith;Daniel Soltero;Melissa Tanner;Lauren White;Daniela Rus
Affiliations:
-;-;-;-;-;-;-;-;-;-;-;-;-;-;-;-;-;-
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 6
Cited 3

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Abstract

This paper describes the architecture and implementation of a distributed autonomous gardening system. The garden is a mesh network of robots and plants. The gardening robots are mobile manipulators with an eye-in-hand camera. They are capable of locating plants in the garden, watering them, and locating and grasping fruit. The plants are potted cherry tomatoes enhanced with sensors and computation to monitor their well-being (e.g. soil humidity, state of fruits) and with networking to communicate servicing requests to the robots. Task allocation, sensing and manipulation are distributed in the system and de-centrally coordinated. We describe the architecture of this system and present experimental results for navigation, object recognition and manipulation.