The accurate identification of overlapping Agaricus bisporus in a factory environment is one of the challenges faced by automated picking. In order to better segment the complex adhesion between Agaricus bisporus, this paper proposes a segmentation recognition algorithm for overlapping Agaricus bisporus. This algorithm calculates the global gradient threshold and divides the image according to the image edge gradient feature to obtain the binary image. Then, the binary image is filtered and morphologically processed, and the contour of the overlapping Agaricus bisporus area is obtained by edge detection in the Canny operator, the convex hull and concave area are extracted for polygon simplification, and the vertices are extracted using Harris corner detection to determine the segmentation point. After dividing the contour fragments by the dividing point, the branch definition algorithm is used to merge and group all the contours of the same Agaricus bisporus. Finally, the least squares ellipse fitting algorithm and the minimum distance circle fitting algorithm are used to reconstruct the outline of Agaricus bisporus, and the demand information of Agaricus bisporus picking is obtained. The experimental results show that this method can effectively overcome the influence of uneven illumination during image acquisition and be more adaptive to complex planting environments. The recognition rate of Agaricus bisporus in overlapping situations is more than 96%, and the average coordinate deviation rate of the algorithm is less than 1.59%.

In view of the difficulties of fruit cluster identification, the specific harvesting sequence constraints of aggregated fruits, and the balanced harvesting task assignment for the multiple arms with a series-increasing symmetric shared (SISS) region, this paper proposes a multi-objective optimization algorithm, which combines genetic algorithm (GA) and ant colony optimization (ACO) stepwise, to optimize the multiarm cooperative harvesting trajectory of straw-rotting fungus to effectively improve the harvesting efficiency and the success rate of non-destructive harvesting. In this approach, firstly, the multiarm trajectory optimization problem is abstracted as a multiple travelling salesman problem (MTSP). Secondly, an improved local density clustering algorithm is designed to identify the cluster fruits to prepare data for harvesting aggregated fruits in a specific order later. Thirdly, the MTSP has been decomposed into M independent TSP (traveling salesman problem) problems by using GA, in which a new DNA (deoxyribonucleic acid) assignment rule is designed to resolve the problem of the average distribution of multiarm harvesting tasks with the SISS region. Then, the improved ant colony algorithm, combined with the auction mechanism, is adopted to achieve the shortest trajectory of each arm, which settles the difficulty that the clustered mature fruits should be harvested in a specified order. The experiments show that it can search for a relatively stable optimal solution in a relatively short time. The average harvesting efficiency is up to 1183 pcs/h and the average harvesting success rate is about 97%. Therefore, the proposed algorithm can better plan the harvesting trajectory for multiarm intelligent harvesting, especially for areas with many aggregated fruits.

Facility agricultural robots operating in greenhouse environments often encounter narrow passages, dense obstacle distributions, and frequent path-direction changes, which increase the difficulty of achieving efficient and smooth autonomous navigation. Conventional A* algorithms usually suffer from redundant node expansion, dense turning-point distributions, and insufficient path continuity under such constrained conditions. To address these issues, this study proposes an improved A*-based path-planning framework that integrates adaptive heuristic weighting, dynamic corner correction, and Bézier-curve-based path smoothing. Rather than introducing an entirely new planning paradigm, the proposed method coordinates several existing optimization strategies within a unified framework to improve search efficiency, path regularity, and path continuity for facility agricultural scenarios. The adaptive heuristic weighting strategy dynamically adjusts the contribution of the heuristic term according to the relative distance between the current node and the target node, thereby improving global search guidance while reducing unnecessary exploration. Dynamic corner correction is introduced to suppress zigzag path structures and reduce redundant turning nodes in obstacle-dense regions, while Bézier-curve-based smoothing is employed to improve path continuity and compatibility with the kinematic characteristics of agricultural mobile robots. Simulation experiments were conducted on grid maps and greenhouse-like environments with different obstacle distributions, and comparative evaluations were performed against Dijkstra, RRT, and conventional A* algorithms. Under representative simulation scenarios, the proposed framework reduced the number of turning points by up to 53.7% and decreased computation time by approximately 19.4% compared with the conventional A* algorithm, based on the average results of repeated trials under identical conditions. In addition, physical platform experiments on a ROS2-based agricultural robot demonstrated that the planned trajectories maintained relatively stable navigation performance and smoother directional transitions in constrained greenhouse-like environments. The results indicate that the proposed framework achieves a more balanced trade-off between computational efficiency, path compactness, and path smoothness than the benchmark methods considered in this study. Nevertheless, the current validation remains limited to structured or semi-structured greenhouse environments under static obstacle conditions. Future work will focus on improving adaptability to dynamic agricultural scenarios and integrating the framework with real-time perception and motion-control systems for practical greenhouse deployment.

In order to provide design guidelines for energy efficient 6G networks, we propose a novel radial basis function (RBF) based optimization framework to maximize the integrated relative energy efficiency (IREE) metric. Different from the conventional energy efficient optimization schemes, we maximize the transformed utility for any given IREE using spectrum efficiency oriented RBF network and gradually update the IREE metric using proposed Dinkelbach's algorithm. The existence and uniqueness properties of RBF networks are provided, and the convergence conditions of the entire framework are discussed as well. Through some numerical experiments, we show that the proposed IREE outperforms many existing SE or EE oriented designs and find a new Jensen-Shannon (JS) divergence constrained region, which behaves differently from the conventional EE-SE region. Meanwhile, by studying IREE-SE trade-offs under different traffic requirements, we suggest that network operators shall spend more efforts to balance the distributions of traffic demands and network capacities in order to improve the IREE performance, especially when the spatial variations of the traffic distribution are significant.

As a core performance metric for green communications, the conventional energy efficiency definition has successfully resolved many issues in the energy efficient wireless network design. In the past several generations of wireless communication networks, the traditional energy efficiency measure plays an important role to guide many energy saving techniques for slow varying traffic profiles. However, for the next generation wireless networks, the traditional energy efficiency fails to capture the traffic and capacity variations of wireless networks in temporal or spatial domains, which is shown to be quite popular, especially with ultra-scale multiple antennas and space-air-ground integrated network. In this paper, we present a novel energy efficiency metric named integrated relative energy efficiency (IREE), which is able to jointly measure the traffic profiles and the network capacities from the energy efficiency perspective. On top of that, the IREE based green trade-offs have been investigated and compared with the conventional energy efficient design. Moreover, we apply the IREE based green trade-offs to evaluate several candidate technologies for 6G networks, including reconfigurable intelligent surfaces and space-air-ground integrated network. Through some analytical and numerical results, we show that the proposed IREE metric is able to capture the wireless traffic and capacity mismatch property, which is significantly different from the conventional energy efficiency metric. Since the IREE oriented design or deployment strategy is able to consider the network capacity improvement and the wireless traffic matching simultaneously, it can be regarded as a useful guidance for future energy efficient network design.