In the viticulture sector, robots are being employed more frequently to increase productivity and accuracy in operations such as vineyard mapping, pruning, and harvesting, especially in locations where human labor is in short supply or expensive. This paper presents the development of an algorithm for grape maturity estimation in the framework of vineyard management. An object detection algorithm is proposed based on You Only Look Once (YOLO) v7 and its extensions in order to detect grape maturity in a white variety of grape (Assyrtiko grape variety). The proposed algorithm was trained using images received over a period of six weeks from grapevines in Drama, Greece. Tests on high-quality images have demonstrated that the detection of five grape maturity stages is possible. Furthermore, the proposed approach has been compared against alternative object detection algorithms. The results showed that YOLO v7 outperforms other architectures both in precision and accuracy. This work paves the way for the development of an autonomous robot for grapevine management.

The development of agricultural robots is an increasingly popular research field aiming at addressing the widespread labor shortages in the farming industry and the ever-increasing food production demands. In many cases, multiple cooperating robots can be deployed in order to reduce task duration, perform an operation not possible with a single robot, or perform an operation more effectively. Building on previous results, this application paper deals with a cooperation strategy that allows two heterogeneous robots to cooperatively carry out grape harvesting, and its implementation is demonstrated. More specifically, the cooperative grape harvesting task involves two heterogeneous robots, where one robot (i.e., the expert) is assigned the grape harvesting task, whereas the second robot (i.e., the helper) is tasked with supporting the harvesting task by carrying the harvested grapes. The proposed cooperative harvesting methodology ensures safe and effective interactions between the robots. Field experiments have been conducted in order firstly to validate the effectiveness of the coordinated navigation algorithm and secondly to demonstrate the proposed cooperative harvesting method. The paper reports on the conclusions drawn from the field experiments, and recommendations for future enhancements are made. The potential of sophisticated as well as explainable decision-making based on logic for enhancing the cooperation of autonomous robots in agricultural applications is discussed in the context of mathematical lattice theory.

The viticultural sector is facing a significant maturation phase, dealing with environmental challenges to reduce agrochemical application and energy consumption, while labor shortages are increasing throughout Europe and beyond. Autonomous collaborative robots are an emerging technology and an alternative to the scarcity of human labor in agriculture. Additionally, collaborative robots could provide sustainable solutions to the growing energy demand of the sector due to their skillful precision and continuous labor. This study presents an impact assessment regarding energy consumption and greenhouse gas emissions of collaborative robots in four Greek vineyards implementing a life cycle assessment approach. Eight scenarios were developed in order to assess the annual production of four Vitis vinifera L. cultivars, namely, Asyrtiko, Cabernet Sauvignon, Merlot, and Tempranillo, integrating data from two wineries for 3 consecutive years. For each conventional cultivation scenario, an alternative was developed, substituting conventional viticultural practices with collaborative robots. The results showed that collaborative robots’ scenarios could achieve a positive environmental and energy impact compared with conventional strategies. The major reason for lower impacts is fossil fuel consumption and the efficiency of the selected robots, though there are limitations regarding their functionality, lifetime, and production. The alternative scenarios have varying energy demand and environmental impact, potentially impacting agrochemical usage and requiring new policy adjustments, leading to increased complexity and potential controversy in farm management. In this context, this study shows the benefits of collaborative robots intended to replace conventional practices in a number of viticultural operations in order to cope with climate change impacts and excessive energy consumption.

The increased cost of labor in modern viticulture stemming from the nature of operations that require physical strength and precision, coupled with labor shortages, poses a significant constraint in facilitating and scheduling seasonal activities. Therefore, autonomous collaborative robots present a potential solution for achieving sustainable development objectives and decreasing operational expenditures in agricultural operations. The current paper presents an economic assessment of collaborative robots (or cobots for short) in comparison to conventional labor for four different cultivars in Greece in a lifecycle costing methodological framework. The selected cultivars are Asyrtiko, Cabernet Sauvignon, Merlot and Tempranillo, which are cultivated by two private wineries in the area of interest. All the relevant expenses of their annual production were distributed to agricultural operations, and eight scenarios were developed to compare conventional and cobot practices. The results indicate the great potential of cobots regarding specific viticultural operations such as weed control, pruning, herbiciding and topping. The adoption of cobots in these operations has the potential to contribute to sustainable agriculture by reducing labor costs and addressing labor shortages, while also increasing the efficiency and precision of these tasks. Nevertheless, the defoliation and tying operations appeared to be inefficient in most cases in comparison to conventional labor practices. Overall, the annual equivalent costs could be reduced by up to 11.53% using cobots, even though the projected lifetime of the cobots plays a significant role in the cost-effectiveness of autonomous robotic labor in viticulture. In conclusion, cobots could be instrumental in the Greek viticulture, integrating innovation and high-quality products toward sustainable agricultural development.