MoBile Robotic PlAtforms for ACtive InspeCtion and Harvesting in AgricUltural AreaS

Project Information

BACCHUS

Grant agreement ID: 871704

DOI 10.3030/871704

Project closed

EC signature date 5 December 2019

Start date 1 January 2020

End date 30 November 2023

Funded under

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Total cost € 5 104 943,75

EU contribution € 5 104 943,75

Coordinated by

ARISTOTELIO PANEPISTIMIO THESSALONIKIS
Greece

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Documents, reports (23)

Connection Framework for DIH actions arising from DT-ICT-02-2018 (Final)

Final update of Connection Framework for DIH actions arising from DT-ICT-02-2018

Website and Social Media Presence Launch
Design and Development of reaching controller (Final)

Final version of Design and Development of reaching controller

Evaluation and comparison with human performance Report

Public version of Evaluation and comparison with human performance Report

BACCHUS Dual-arm controller for processing, and pick and place operations (Final)

Final version of BACCHUS Dualarm controller for processing and pick and place operations

Target approaching and active inspection (Final)

Final version of Target approaching and active inspection

BACCHUS consolidated evaluation and lessons learned (Final)

The final BACCHUS consolidated evaluation and lessons learned

Navigation Data processing and sensor fusion (Final)

Final version of Navigation Data processing and sensor fusion

BACCHUS localization and mapping engines (Final)

Final version of BACCHUS localization and mapping engines

BACCHUS system architecture (Final)

Final version

BACCHUS User requirements (Final)

Final version

Data management system (Final)

Final version of Data management system

BACCHUS Use Cases (Final)

Final version

Design and Development of Unveiling controller (Final)

Final version of Design and Development of Unveiling controller

Curiosity driven exploration and active inspection for assessing crops (Final)

Final version of Curiosity driven exploration and active inspection for assessing crops

Operation planning module (Final)

Final version of operation planning module

Market analysis and exploitation strategy (Final)

Final update of Market analysis and exploitation strategy

3D visualization system (Final)

Final version of 3D visualization system

Design and Development of Bimanual reaching controller (Final)

Final version of Design and Development of Bimanual reaching controller

Report on the analysis of SoA, existing and past projects/initiatives

Detailed report, including market analysis in respect future flexible manufacturing challenges, applications & ecosystems

Lab setup methodology, s/w and h/w Robot extensions validation (Final)

Final version of the lab setup methodology, s/w and h/w Robot extensions validation

BACCHUS Knowledge Base and integrated Decision Support System (Final)

Final version of BACCHUS Knowledge Base and integrated Decision Support System

Cost benefit & Cost effectiveness analysis of BACCHUS prototypes (Final)

Final Cost benefit & Cost effectiveness analysis of BACCHUS prototypes

Demonstrators, pilots, prototypes (2)

BACCHUS use cases deployment and execution (Final)

The final BACCHUS use cases deployment and execution

Integrated BACCHUS bi-manual robot (Final)

The final Integrated BACCHUS bi-manual robot

Publications

Conference proceedings (29)

Pick-and-place in dynamic environments with a mobile dual-arm robot equipped with distributed distance sensors

Author(s): Stavridis, Sotiris; Falco, Pietro; Doulgeri, Zoe
Published in: HUMANOIDS, Issue 3, 2021
Publisher: IEEE
DOI: 10.1109/humanoids47582.2021.9555672

A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot

Author(s): Papageorgiou Dimitrios; Koutras Leonidas; Doulgeri Zoe
Published in: 2022
Publisher: IEEE
DOI: 10.5281/zenodo.7128778

Anisotropic Diffusion-Based Enhancement of Scene Segmentation with Instance Labels

Author(s): Kleitsiotis, Ioannis; Mariolis, Ioannis; Giakoumis, Dimitrios; Likothanassis, Spiridon; Tzovaras, Dimitrios;
Published in: The 19th International Conference on Computer Analysis of Images and Patterns (CAIP),, 2021
Publisher: -
DOI: 10.5281/zenodo.5266712

Kinesthetic teaching of bi-manual tasks with known relative constraints

Author(s): Sotiris Stavridis; Dimitrios Papageorgiou; Zoe Doulgeri
Published in: 2022
Publisher: IEEE
DOI: 10.5281/zenodo.7223480

Collection and Evaluation of a Long-Term 4D Agri-Robotic Dataset

Author(s): Polvara, Riccardo; Molina, Sergi; Hroob, Ibrahim; Cielniak, Grzegorz; Hanheide, Marc
Published in: 2022
Publisher: -
DOI: 10.5281/zenodo.7135175

A real-time approach system for vineyards intra-row weed detection

Author(s): Vasileios Moysiadis; Dimitrios Kateris; Dimitrios Katikaridis; Giorgos Vasileiadis; Vasileios Kolorizos; Aristotelis C. Tagarakis; Dionysis Bochtis
Published in: 2022
Publisher: -
DOI: 10.5281/zenodo.7123776

Bimanual crop manipulation for human-inspired robotic harvesting

Author(s): Stavridis, Sotiris; Papageorgiou, Dimitrios; Droukas, Leonidas; Doulgeri, Zoe
Published in: Issue 1, 2023
Publisher: -
DOI: 10.48550/arxiv.2209.06074

Split Deep Q-Learning for Robust Object Singulation *

Author(s): Iason Sarantopoulos, Marios Kiatos, Zoe Doulgeri, Sotiris Malassiotis
Published in: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 6225-6231, ISBN 978-1-7281-7395-5
Publisher: IEEE
DOI: 10.1109/icra40945.2020.9196647

In situ hyperspectral imaging for estimation of wine grape ripeness using attention-based convolutional neural networks

Author(s): Nikolaos Tsakiridis; Eleni Kalopesa; Nikiforos Samarinas; George Zalidis; Nikolaos Tziolas
Published in: Issue 3, 2023
Publisher: -
DOI: 10.5281/zenodo.7950241

An integrated weed detection system in vineyards

Author(s): Moysiadis, Vasileios; Katikaridis, Dimitrios; Kateris, Dimitrios; Bochtis, Dionysis
Published in: Issue 2, 2022
Publisher: -
DOI: 10.5281/zenodo.10548145

Prescribed Performance Regulation in the presence of Unknown Time-Varying Delays

Author(s): Bikas, Lampros; Rovithakis, George
Published in: 2022
Publisher: IFAC
DOI: 10.5281/zenodo.7138570

Improving Safety in Human-Robot Collaboration via Dynamic Active Constraints Enforcement *

Author(s): George S. Kanakis, George A. Rovithakis
Published in: 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021, Page(s) 515-519, ISBN 978-1-6654-0492-1
Publisher: IEEE
DOI: 10.1109/ro-man50785.2021.9515497

Autonomous UGV-based weed detection system for vineyards

Author(s): Dimitrios Kateris; Damianos Kalaitzidis; Vasileios Moysiadis; Dimitrios Katikaridis; Aristotelis C. Tagarakis; Dionysis Bochtis;
Published in: EFITA 2021, Digital Agriculture Web Conference (EFITA 2021), 2021
Publisher: -
DOI: 10.5281/zenodo.5286423

UAV-assisted topological mapping for AGV navigation in vineyards

Author(s): Molina, Sergi; Cielniak, Grzegorz; Hanheide, Marc
Published in: 2022
Publisher: -
DOI: 10.5281/zenodo.7135167

On Visual Servoing under Field-of-View Limits and Impulsive Perturbations

Author(s): Rovithakis, George; Kechagias, Andreas
Published in: Issue 1, 2023
Publisher: ECC
DOI: 10.23919/ECC57647.2023.10178365

Improved Reinforcement Learning Pushing Policies via Heuristic Rules

Author(s): Kiatos, Marios; Sarantopoulos, Iason; Malassiotis, Sotiris; Doulgeri, Zoe
Published in: Issue 3, 2021
Publisher: -
DOI: 10.48550/arxiv.2111.11156

Achieving Prescribed Performance for Uncertain Impulsive Systems in Brunovsky Canonical Form

Author(s): Kechagias, Andreas; Rovithakis, George
Published in: Issue 1, 2023
Publisher: IEEE
DOI: 10.1109/MED59994.2023.10185769

Non-destructive estimation of grape ripeness in Syrah variety via VNIR–SWIR spectroscopy

Author(s): Nikiforos Samarinas; Nikolaos Tsakiridis; Nikolaos Tziolas; Eleni Kalopesa; Konstantinos Karyotis; Dionysis Bochtis; George Zalidis; Zoe Doulgeri;
Published in: EFITA 2021, Digital Agriculture Web Conference (EFITA 2021), 2021
Publisher: -
DOI: 10.5281/zenodo.5266375

Learned Long-Term Stability Scan Filtering for Robust Robot Localisation in Continuously Changing Environments

Author(s): Hroob, Ibrahim; Molina, Sergi; Polvara, Riccardo; Cielniak, Grzegorz; Hanheide, Marc
Published in: Issue 6, 2023
Publisher: -
DOI: 10.1109/ECMR59166.2023.10256419

LTS-NET: End-to-end Unsupervised Learning of Long-Term 3D Stable objects

Author(s): Hroob, Ibrahim; Molina, Sergi; Polvara, Riccardo; Cielniak, Grzegorz; Hanheide, Marc
Published in: Issue 3, 2023
Publisher: -
DOI: 10.48550/arxiv.2301.03426

From RGB images to Dynamic Movement Primitives for planar tasks

Author(s): Sidiropoulos, Antonis; Doulgeri, Zoe
Published in: Issue 1, 2023
Publisher: IEEE
DOI: 10.48550/arxiv.2303.03204

Achieving Prescribed Performance for Euler-Lagrange Systems with Impulsive Behaviour

Author(s): Kechagias, Andreas; Rovithakis, George
Published in: 2022
Publisher: IEEE
DOI: 10.5281/zenodo.6912777

Pick-and-place in dynamic environments with a mobile dual-arm robot equipped with distributed distance sensors

Author(s): Sotiris Stavridis; Pietro Falco; Zoe Doulgeri
Published in: Humanoids 2021, 2021
Publisher: -
DOI: 10.5281/zenodo.5163236

TS-Rep: Time series representation learning in robotics using self-supervised contrastive learning

Author(s): Somaiya, Pratik; Pandya, Harit; Polvara, Riccardo; Hanheide, Marc; Cielniak, Grzegorz
Published in: 2022
Publisher: -
DOI: 10.5281/zenodo.7135205

Exponential stability of trajectory tracking control in the orientation space utilizing unit quaternions

Author(s): Koutras Leonidas; Doulgeri Zoe
Published in: 2021
Publisher: IEEE
DOI: 10.5281/zenodo.5535870

Navigate-and-Seek: A Robotics Framework for People Localization in Agricultural Environments

Author(s): Riccardo Polvara; Francesco Del Duchetto; Gerhard Neumann; Marc Hanheide
Published in: Issue 6, 2021
Publisher: -
DOI: 10.1109/lra.2021.3094557

Towards Agri-KITTI: a 4D Dataset for Phenotyping and Simultaneous Localization and Mapping in Agricultural Applications

Author(s): Polvara, Riccardo; Molina, Sergi; Tsiolis, Konstantinos; Papadimitriou, Alexios; Mariolis, Ioannis; Giakoumis, Dimitrios; Tzovaras, Dimitrios; Cielniak, Grzegorz; Hanheide, Marc
Published in: 2022
Publisher: -
DOI: 10.5281/zenodo.7135191

Loop Closure Detection and SLAM in Vineyards with Deep Semantic Cues

Author(s): Alexios Papadimitriou; Ioannis Kleitsiotis; Ioannis Kostavelis; Ioannis Mariolis; Dimitrios Giakoumis; Spiriden Likothanassis; Dimitrios Tzovaras
Published in: Crossref, Issue 5, 2022
Publisher: IEEE
DOI: 10.1109/icra46639.2022.9812419

Benchmark of visual and 3D lidar SLAM systems in simulation environment for vineyards

Author(s): Hroob, Ibrahim; Polvara, Riccardo; Molina, Sergi; Cielniak, Grzegorz; Hanheide, Marc
Published in: 2022
Publisher: -
DOI: 10.5281/zenodo.5184874

Peer reviewed articles (8)

Bacchus Long‐Term (BLT) data set: Acquisition of the agricultural multimodal BLT data set with automated robot deployment

Author(s): Polvara, Riccardo; Molina, Sergi; Hroob, Ibrahim; Papadimitriou, Alexios; Tsiolis, Konstantinos; Giakoumis, Dimitrios; Likothanassis, Spiridon; Tzovaras, Dimitrios; Cielniak, Grzegorz; Hanheide, Marc
Published in: Journal of Field Robotics, Issue 3, 2022, ISSN 1556-4959
Publisher: John Wiley & Sons Ltd.
DOI: 10.1002/rob.22228

An Overview of Cooperative Robotics in Agriculture

Author(s): Chris Lytridis; Vassilis G. Kaburlasos; Theodore Pachidis; Michalis Manios; Eleni Vrochidou; Theofanis Kalampokas; Stamatis Chatzistamatis
Published in: Agronomy, Vol 11, Iss 1818, p 1818 (2021), Issue 3, 2021, ISSN 2073-4395
Publisher: MDPI
DOI: 10.3390/agronomy11091818

Learning Push-Grasping in Dense Clutter

Author(s): Marios Kiatos; Iason Sarantopoulos; Leonidas Koutras; Sotiris Malassiotis; Zoe Doulgeri
Published in: Crossref, Issue 1, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3188437

A Survey of Robotic Harvesting Systems and Enabling Technologies

Author(s): Leonidas Droukas; Zoe Doulgeri; Nikolaos L. Tsakiridis; Dimitra Triantafyllou; Ioannis Kleitsiotis; Ioannis Mariolis; Dimitrios Giakoumis; Dimitrios Tzovaras; Dimitrios Kateris; Dionysis Bochtis
Published in: Crossref, Issue 6, 2023, ISSN 0921-0296
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10846-022-01793-z

Estimation of Sugar Content in Wine Grapes via In Situ VNIR–SWIR Point Spectroscopy Using Explainable Artificial Intelligence Techniques

Author(s): Eleni Kalopesa; Konstantinos Karyotis; Nikolaos Tziolas; Nikolaos Tsakiridis; Nikiforos Samarinas; George Zalidis
Published in: Sensors; Volume 23; Issue 3; Pages: 1065, Issue 3, 2023, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23031065

Total Singulation With Modular Reinforcement Learning

Author(s): Iason Sarantopoulos, Marios Kiatos, Zoe Doulgeri, Sotiris Malassiotis
Published in: IEEE Robotics and Automation Letters, Issue 6/2, 2021, Page(s) 4117-4124, ISSN 2377-3766
Publisher: ΙΕΕΕ
DOI: 10.1109/lra.2021.3062295

In situ grape ripeness estimation via hyperspectral imaging and deep autoencoders

Author(s): Tsakiridis, Nikolaos; Samarinas, Nikiforos; Kokkas, Stylianos; Kalopesa, Eleni; Tziolas, Nikolaos; Zalidis, George
Published in: Computers and Electronics in Agriculture, Issue 3, 2023, ISSN 0168-1699
Publisher: Elsevier BV
DOI: 10.1016/j.compag.2023.108098

Rapid Determination of Wine Grape Maturity Level from pH, Titratable Acidity, and Sugar Content Using Non-Destructive In Situ Infrared Spectroscopy and Multi-Head Attention Convolutional Neural Networks

Author(s): Eleni Kalopesa; Theodoros Gkrimpizis; Nikiforos Samarinas; Nikolaos L. Tsakiridis; George C. Zalidis
Published in: Crossref, Issue 2, 2023, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23239536