Spring Milestones

Perception

• Tomato flower detection and localization
• Tomato fruit detection and localization
• Compute hardware communication
• Aruco markers as substitutes for POI

Navigation

• Straight-line navigation
• Row switching with Aruco markers

Manipulation

• Arm to bounding box location
• Arm to POI (aruco) location
• Arm to base for drop

Customized Tool

• Design and fabrication of harvester
• Design and fabrication of pollinator
• Control of harvester operation
• Control of pollinator operation by the microcontroller

Integration

• Behavior planner
• Customized Tool with Manipulation
• Perception with Navigation
• Perception with Manipulation

Fall Milestones

Perception

• Improve tomato flower detection accuracy
• Improve tomato flower cluster localization accuracy
• Improve tomato fruit detection accuracy
• Improve tomato fruit cluster localization accuracy
• POI detection and localization

Navigation

• Optimize navigation controller
• Implement a custom global path planner

Customized Tool

• Harvester as a part of the end of arm
• Pollinator as a part of the end of arm
• Control of pollinator operation by bot