Former PhD Student Tianxiao Zhu's Paper Accepted by Advanced Intelligent Systems

We are pleased to announce that our paper, “Six-DoF Strawberry Harvesting Pose Selection and Adaptive Obstacle Clearing in Occluded Environments,” has been accepted for publication in Advanced Intelligent Systems.

The paper is led by Dr. Tianxiao Zhu, our former PhD student and the first author, with Chunjiang Zhao, Zhonghua Miao, Wei Zhang, and Ya Xiong as co-authors. The research was conducted by the Intelligent Equipment Research Center at the Beijing Academy of Agriculture and Forestry Sciences in collaboration with the School of Mechatronic Engineering and Automation at Shanghai University.

The study proposes an occlusion-aware six-degree-of-freedom harvesting-pose selection method combined with adaptive obstacle clearing. Candidate end-effector poses are evaluated using a ripeness-weighted obstruction-risk score, while RRT-Connect verifies reachability and collision feasibility. When no collision-free approach is available, the system adaptively clears obstacles according to the local environment and fruit ripeness.

Field experiments showed that the complete strategy increased harvesting success from 65.5% to 78.0% and reduced fruit damage from 7.5% to 5.5%, with execution time increasing from 5.55 to 6.57 seconds.

Congratulations to Dr. Tianxiao Zhu and all the co-authors! 🍓🤖