Sweet-pepper plant parts should be distinguished to construct an obstacle map to plan
collision-free motion for a harvesting manipulator. Objectives were to segment vegetation …

This paper describes the results of the development of a robot for harvesting sweet-peppers
in greenhouses. A description is given of the working environment of the robot and its design …

A robot arm should avoid collisions with the plant stem when it approaches a candidate
sweet-pepper for harvesting. This study therefore aims at stem localization, a topic so far …

Highlights•A method for evaluation of perception errors on gripper design is presented.•The
method is based on graspability maps generated in simulation.•The graspability maps are …

Mexico is the world largest producer of cactus pear (Opuntia spp.) and is searching for new
processes that allow to export them. The fruit is rich in nutrients but is highly perishable …

8.1 Conclusion The hypothesis, main objective and sub-objectives are listed in Chapter 1.
This section lists the conclusions and the contributions to the field, for the six sub-objectives …