Phenorob - Robotics and Phenotyping for Sustainable Crop Production
PhenoRob performs world-leading research in robotics and phenotyping for sustainable crop production. Our vision is to transform crop production by optimizing breeding and farming management through developing and deploying new technologies. PhenoRob addresses a real-world problem with a technology-oriented approach. Our scientists have backgrounds in computer science, geodesy, robotics, plant science, soil science, economics, and environmental science. This interdisciplinary team forms the only DFG-funded Cluster of Excellence focusing on agriculture.
Project Abstract:
PhenoRob performs world-leading research in robotics and phenotyping for sustainable crop production. Our vision is to transform crop production by optimizing breeding and farming management through developing and deploying new technologies. PhenoRob addresses a real-world problem with a technology-oriented approach. Our scientists have backgrounds in computer science, geodesy, robotics, plant science, soil science, economics, and environmental science. This interdisciplinary team forms the only DFG-funded Cluster of Excellence focusing on agriculture. In Phenorob, our group focuses on active perception for mapping and inspection. We have developed new methods for viewpoint planning to enable better fruit detection and volume estimation in Core Project 1 of Phenorob. In the interdisciplinary Open Call 2 project, we extend the methods developed in CP1 and investigate new methods for activce perception for horticulture actions using robotic manipulation.
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SG-DOR: Learning Scene Graphs with Direction-Conditioned Occlusion Reasoning for Pepper Plants
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2026
O-STaR: Open-Vocabulary Object Search through Spatio-Temporal Reasoning on Dynamic Scene Graphs
Proceedings of 2nd German Robotics Conference (GRC), 2026
EvidMTL: Evidential Multi-Task Learning for Uncertainty-Aware Semantic Surface Mapping from Monocular RGB Images
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
GO-VMP: Global Optimization for View Motion Planning in Fruit Mapping
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Safe Multi-Agent Reinforcement Learning for Behavior-Based Cooperative Navigation
IEEE Robotics and Automation Letters (RA-L) and presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2025
Safe Leaf Manipulation for Accurate Shape and Pose Estimation of Occluded Fruits
IEEE International Conference on Robotics & Automation (ICRA), 2025
Integrating One-Shot View Planning with a Single Next-Best View via Long-Tail Multiview Sampling
IEEE Transactions on Robotics (T-RO), 2024
Centroidal State Estimation based on the Koopman Embedding for Dynamic Legged Locomotion
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Exploiting Priors from 3D Diffusion Models for RGB-Based One-Shot View Planning
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Research Priorities to Leverage Smart Digital Technologies for Sustainable Crop Production
European Journal of Agronomy, 2024
Active Implicit Reconstruction Using One-Shot View Planning
IEEE International Conference on Robotics and Automation (ICRA), 2024
How Many Views Are Needed to Reconstruct an Unknown Object Using NeRF?
IEEE International Conference on Robotics and Automation (ICRA), 2024
DawnIK: Decentralized Collision-Aware Inverse Kinematics Solver for Heterogeneous Multi-Arm Systems
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023
NBV-SC: Next Best View Planning based on Shape Completion for Fruit Mapping and Reconstruction
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Graph-based View Motion Planning for Fruit Detection
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023
Fruit Tracking Over Time Using High-Precision Point Clouds
IEEE International Conference on Robotics & Automation (ICRA), 2023
Fruit Mapping with Shape Completion for Autonomous Crop Monitoring
IEEE International Conference on Automation Science and Engineering (CASE), 2022
Deep Reinforcement Learning for Next-Best-View Planning in Agricultural Applications
IEEE International Conference on Robotics & Automation (ICRA), 2022
Combining Local and Global Viewpoint Planning for Fruit Coverage
European Conference on Mobile Robots (ECMR), 2021
Online Object-Oriented Semantic Mapping and Map Updating
European Conference on Mobile Robots (ECMR), 2021
Viewpoint Planning for Fruit Size and Position Estimation
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021