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Flourish

Aerial Data Collection and Analysis, and Automated Ground Intervention for Precision Farming

Total Cost €

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EC-Contrib. €

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Partnership

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Project "Flourish" data sheet

The following table provides information about the project.

Coordinator
EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICH 

Organization address
address: Raemistrasse 101
city: ZUERICH
postcode: 8092
website: https://www.ethz.ch/de.html

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Switzerland [CH]
 Project website http://flourish-project.eu
 Total cost 4˙780˙047 €
 EC max contribution 3˙560˙870 € (74%)
 Programme 1. H2020-EU.2.1.1.5. (Advanced interfaces and robots: Robotics and smart spaces)
 Code Call H2020-ICT-2014-1
 Funding Scheme RIA
 Starting year 2015
 Duration (year-month-day) from 2015-03-01   to  2018-08-31

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZUERICH CH (ZUERICH) coordinator 0.00
2    ROBERT BOSCH GMBH DE (GERLINGEN-SCHILLERHOEHE) participant 964˙720.00
3    ALBERT-LUDWIGS-UNIVERSITAET FREIBURG DE (FREIBURG) participant 915˙500.00
4    RHEINISCHE FRIEDRICH-WILHELMS-UNIVERSITAT BONN DE (BONN) participant 750˙000.00
5    CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE CNRS FR (PARIS) participant 457˙650.00
6    UNIVERSITA DEGLI STUDI DI ROMA LA SAPIENZA IT (ROMA) participant 366˙750.00
7    AGENZIA SERVIZI SETTORE AGROALIMENTARE MARCHE (ASSAM) IT (OSIMO) participant 106˙250.00

Map

 Project objective

To feed a growing world population with the given amount of available farmland, we must develop new methods of sustainable farming that increase yield while reducing reliance on herbicides and pesticides. Precision agricultural techniques seek to address this challenge by monitoring key indicators of crop health and targeting treatment only to plants that need it. This is a time consuming and expensive activity and while there has been great progress on autonomous farm robots, most systems have been developed to solve only specialized tasks. This lack of flexibility poses a high risk of no return on investment for farmers. The goal of the Flourish project is to bridge the gap between the current and desired capabilities of agricultural robots by developing an adaptable robotic solution for precision farming. By combining the aerial survey capabilities of a small autonomous multi-copter Unmanned Aerial Vehicle (UAV) with a multi-purpose agricultural Unmanned Ground Vehicle, the system will be able to survey a field from the air, perform targeted intervention on the ground, and provide detailed information for decision support, all with minimal user intervention. The system can be adapted to a wide range of crops by choosing different sensors and ground treatment packages. This development requires improvements in technological abilities for safe accurate navigation within farms, coordinated multi-robot mission planning that enables large field survey even with short UAV flight times, multispectral three-dimensional mapping with high temporal and spatial resolution, ground intervention tools and techniques, data analysis tools for crop monitoring and weed detection and user interface design to support agricultural decision making. As these aspects are addressed in Flourish, the project will unlock new prospects for commercial agricultural robotics in the near future.

 Deliverables

List of deliverables.
Weed Detection and Predictive Tracking Documents, reports 2019-05-30 15:43:05
Coordinated UGV and UAV Operations Documents, reports 2019-05-30 15:43:05
UAV Localization Documents, reports 2019-05-30 15:43:05
End-User Evaluation Report Documents, reports 2019-05-30 15:43:06
Development Repository Documents, reports 2019-05-30 15:43:05
Long-term Navigation Optimization Module Documents, reports 2019-05-30 15:43:05
Adaptive Mission Planning Documents, reports 2019-05-30 15:43:05
Data Analysis and Interpretation Documents, reports 2019-05-30 15:43:05
UGV-based crop and weed detection Documents, reports 2019-05-30 15:43:05
Data Management Plan Documents, reports 2019-05-30 15:43:06
Model Update After Local Treatment Documents, reports 2019-05-30 15:43:05
Project web-page Websites, patent fillings, videos etc. 2019-05-30 15:43:06
Database and User Interface Specification Documents, reports 2019-05-30 15:43:05
UGV Environment Modeling Documents, reports 2019-05-30 15:43:05
Press Video Websites, patent fillings, videos etc. 2019-05-30 15:43:06
Database and User Interface Development Documents, reports 2019-05-30 15:43:06
Cooperative Environment Modeling Documents, reports 2019-05-30 15:43:05
Local Collision Avoidance Documents, reports 2019-05-30 15:43:05
UAV Environment Modeling Documents, reports 2019-05-30 15:43:06
First Periodic Report Documents, reports 2019-05-30 15:43:06
Dissemination and Exploitation Report Documents, reports 2019-05-30 15:43:06
Planner Module(s) Documents, reports 2019-05-30 15:43:05
Hardware and Software Specification Documents, reports 2019-05-30 15:43:06
Hardware Setup and Modification Documents, reports 2019-05-30 15:43:06
Initial Data Acquisition Documents, reports 2019-05-30 15:43:06
Integration Evaluation Report Documents, reports 2019-05-30 15:43:05
Navigation Interface Documents, reports 2019-05-30 15:43:05
Brochure, Newsletter, and Knowledge Management Report Websites, patent fillings, videos etc. 2019-05-30 15:43:06
Second Periodic Report Documents, reports 2019-05-30 15:43:06
Integration Plan Documents, reports 2019-05-30 15:43:06
Traversability Analysis Module Documents, reports 2019-05-30 15:43:05
Integrated System Ready and Components Available Documents, reports 2019-05-30 15:43:05
Use-Case Analysis and Requirements Documents, reports 2019-05-30 15:43:05
Weed Treatment Modules Documents, reports 2019-05-30 15:43:05
Localization Module Documents, reports 2019-05-30 15:43:05
Integrated Perception and Weed Treatment Documents, reports 2019-05-30 15:43:05
Third Periodic Report Documents, reports 2019-05-30 15:43:05

Take a look to the deliverables list in detail:  detailed list of Flourish deliverables.

 Publications

year authors and title journal last update
List of publications.
2016 Philipp Lottes, Markus Hörferlin, Slawomir Sander, Cyrill Stachniss
Effective Vision-based Classification for Separating Sugar Beets and Weeds for Precision Farming
published pages: , ISSN: 1556-4959, DOI: 10.1002/rob.21675
Journal of Field Robotics 2016 2019-10-08
2017 Marija Popović, Teresa Vidal-Calleja, Gregory Hitz, Inkyu Sa, Roland Siegwart, and Juan Nieto
Multiresolution Mapping and Informative Path Planning for UAV-based Terrain Monitoring
published pages: , ISSN: , DOI:
IEEE Int. Conf. on Intel. Robots & Systems (IROS) 2017 2017 2019-10-08
2017 Andres Milioto, Philipp Lottes, and Cyrill Stachniss
Real-time blob-wise sugar beets vs weeds classification for monitoring fields based on Convolutional Neural Networks
published pages: , ISSN: , DOI:
ISPRS Annals of the Photogrammetry, Remote Sensing and Spatial Information Sciences 2017 2019-10-08
2015 Raghav Khanna, Joern Rehder, Martin Möller, Enric Galceran and Roland Siegwart
Studying Phenotypic Variability in Crops using a Hand-held Sensor Platform.
published pages: , ISSN: , DOI:
Proceedings of the IROS Workshop on Agri-Food Robotics 2015 2019-10-08
2017 Zetao Chen, Fabiola Maffra, Inkyu Sa, Margarita Chli
Only Look Once, Mining Distinctive Landmarks from ConvNet for Visual Place Recognition
published pages: , ISSN: , DOI:
IEEE Int. Conf. on Intel. Robots & Systems (IROS) 2017 2017 2019-10-08
2016 Ciro Potena, Daniele Nardi and Alberto Pretto
Fast and Accurate Crop and Weed Identification with Summarized Train Sets for Precision Agriculture
published pages: , ISSN: , DOI:
Proceedings of the 14th International Conference on Intelligent Autonomous Systems 2016 2019-10-08
2017 Florian Kraemer, Alexander Schaefer, Andreas Eitel, Johan Vertens, Wolfram Burgard
From Plants to Landmarks: Time-invariant Plant Localization that uses Deep Pose Regression in Agricultural Fields
published pages: , ISSN: , DOI:
IEEE Int. Conf. on Intel. Robots & Systems (IROS) 2017 2017 2019-10-08
2016 Johannes Schneider, Cyrill Stachniss, Wolfgang Forstner
On the Accuracy of Dense Fisheye Stereo
published pages: 227-234, ISSN: 2377-3766, DOI: 10.1109/LRA.2016.2516509
IEEE Robotics and Automation Letters 1/1 2019-10-08
2016 Frank Liebisch, Johannes Pfeifer, Raghav Khanna, Philipp Lottes, Cyrill Stachniss, Tillmann Falck, Slawomir Sander, Roland Siegwart, Achim Walter Enric Galceran
Flourish – A robotic approach for automation in crop management
published pages: , ISSN: , DOI:
22. Workshop Computer-Bildanalyse und Unbemannte autonom fliegende Systeme in der Landwirtschaft 2016 2019-10-08
2017 Lukas Luft, Alexander Schaefer, Tobias Schubert and Wolfram Burgard
Closed-Form Full Map Posteriors for Robot Localization with Lidar Sensors
published pages: , ISSN: , DOI:
International Conference on Intelligent Robots and Systems (IROS), 2017 2017 2019-10-08
2017 Maurilio Di Cicco, Ciro Potena, Giorgio Grisetti, and Alberto Pretto
Automatic Model Based Dataset Generation for Fast and Accurate Crop and Weeds Detection
published pages: , ISSN: , DOI:
IEEE Int. Conf. on Intel. Robots & Systems (IROS) 2017 2017 2019-10-08
2017 Hannes Sommer, Raghav Khanna, Igor Gilitschenski, Zachary Taylor, Roland Siegwart, and Juan Nieto
A Low-Cost System for High-Rate, High-Accuracy Temporal Calibration for LIDARs and Cameras
published pages: , ISSN: , DOI:
IEEE Int. Conf. on Intel. Robots & Systems (IROS) 2017 2017 2019-10-08
2017 Alexander Schaefer, Lukas Luft, Wolfram Burgard
An Analytical Lidar Sensor Model Based on Ray Path Information
published pages: 1405-1412, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2669376
IEEE Robotics and Automation Letters 2/3 2019-10-08
2017 Ciro Potena, Daniele Nardi and Alberto Pretto
Effective Target Aware Visual Navigation for UAVs
published pages: , ISSN: , DOI:
European Conference on Mobile Robots (ECMR) 2017 2017 2019-10-08
2017 Amedeo Rodi Vetrella, Inkyu Sa, Marija Popovic, Raghav Khanna, Juan Nieto, Giancarmine Fasano, Domenico Accardo and Roland Siegwart
Improved Tau-Guidance and Vision-aided Navigation for Robust Autonomous Landing of UAVs
published pages: , ISSN: 1610-7438, DOI:
Field and Service Robotics 2017 2019-10-08
2017 Dario Albani, Daniele Nardi, and Trianni Vito
Field Coverage and Weed Mapping by UAV Swarms
published pages: , ISSN: , DOI:
2017 2019-10-08
2016 Marija Popovic, Gregory Hitz, Juan Nieto, Roland Siegwart, Enric Galceran
Online Informative Path Planning for Active Classification on UAVs
published pages: , ISSN: , DOI:
ational Conference on Robotics and Automation (ICRA) 2016 2019-10-08
2016 Johannes Pfeifer, Raghav Khanna, Dragos Constantin, Marija Popovic, Enric Galceran, Norbert Kirchgessner, Achim Walter, Roland Siegwart, Frank Liebisch
Towards automatic UAV data interpretation for precision farming
published pages: , ISSN: , DOI:
International Conference of Agricultural Engineering 2016 2016 2019-10-08
2017 Jemin Hwangbo, Inkyu Sa, Roland Siegwart, Marco Hutter
Control of a Quadrotor With Reinforcement Learning
published pages: 2096-2103, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2720851
IEEE Robotics and Automation Letters 2/4 2019-10-08
2017 Inkyu Sa, Mina Kamel, Raghav Khanna, Marija Popović, Juan Nieto, Roland Siegwart
Dynamic System Identification, and Control for a cost effective open-source VTOL MAV
published pages: , ISSN: 1610-7438, DOI:
Proceedings of the Field of Service Robotics (FSR) 2017 2019-10-08
2017 Philipp Lottes and Cyrill Stachniss
Semi-Supervised Online Visual Crop and Weed Classification in Precision Farming Exploiting Plant Arrangement
published pages: , ISSN: , DOI:
2017 2019-10-08
2018 Zetao Chen, Lingqiao Liu, Inkyu Sa, Zongyuan Ge, Margarita Chli
Learning Context Flexible Attention Model for Long-Term Visual Place Recognition
published pages: 4015-4022, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2859916
IEEE Robotics and Automation Letters 3/4 2019-05-30
2018 Lukas Luft, Alexander Schaefer, Tobias Schubert, Wolfram Burgard
Detecting Changes in the Environment Based on Full Posterior Distributions Over Real-Valued Grid Maps
published pages: 1299-1305, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2797317
IEEE Robotics and Automation Letters 3/2 2019-05-30
2018 Milioto, Andres; Stachniss, Cyrill
Bonnet: An Open-Source Training and Deployment Framework for Semantic Segmentation in Robotics using CNNs
published pages: , ISSN: , DOI:
International Conference on Robotics and Automation (ICRA) 4 2019-05-30
2018 Inkyu Sa, Marija Popović, Raghav Khanna, Zetao Chen, Philipp Lottes, Frank Liebisch, Juan Nieto, Cyrill Stachniss, Achim Walter, Roland Siegwart
WeedMap: A Large-Scale Semantic Weed Mapping Framework Using Aerial Multispectral Imaging and Deep Neural Network for Precision Farming
published pages: 1423, ISSN: 2072-4292, DOI: 10.3390/rs10091423
Remote Sensing 10/9 2019-05-30
2018 Wera Winterhalter, Freya Veronika Fleckenstein, Christian Dornhege, Wolfram Burgard
Crop Row Detection on Tiny Plants With the Pattern Hough Transform
published pages: 3394-3401, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2852841
IEEE Robotics and Automation Letters 3/4 2019-05-30
2018 Alexander Schaefer, Lukas Luft, Wolfram Burgard
DCT Maps: Compact Differentiable Lidar Maps Based on the Cosine Transform
published pages: 1002-1009, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2794602
IEEE Robotics and Automation Letters 3/2 2019-05-30
2018 Stefan Glaser, Alexander Schaefer and Wolfram Burgard
Mapping and Localization using Multispectral Imaging of the Soil.
published pages: , ISSN: , DOI:
International Conference on Intelligent Robots and Systems (IROS) Workshop, Unconventional Sensing and Processing for Robotic Visual Perception 2019-05-30
2017 Corinne Müller-Ruh, Frank Liebisch, Johannes Pfeifer, Achim Walter
Investigation of ground based and airborne spectral information for Nitrogen fertilizer application optimization in sugar beet
published pages: , ISSN: 0947-7314, DOI:
Bornimer Agrartechnische Berichte 90 2019-05-30
2016 Ciro Potena, Marco Imperoli, Alberto Pretto, Daniele Nardi, Simona Talevi and Sandro Nardi
La robotica autonoma al servizio dell\'agricoltura di precisione: primi risultati di classificazione automatica delle infestanti nel progetto Flourish
published pages: 641-650, ISSN: , DOI:
Giornate Fitopatologiche 2016 2019-05-30
2018 Milioto, Andres; Lottes, Philipp; Stachniss, Cyrill
Real-time Semantic Segmentation of Crop and Weed for Precision Agriculture Robots Leveraging Background Knowledge in CNNs
published pages: , ISSN: , DOI:
International Conference on Robotics and automation (ICRA) 11 2019-05-30
2018 Valada, Abhinav; Radwan, Noha; Burgard, Wolfram
Deep Auxiliary Learning for Visual Localization and Odometry
published pages: , ISSN: , DOI:
International conference on Robotics and Automation (ICRA) 3 2019-05-30
2018 Inkyu Sa, Zetao Chen, Marija Popovic, Raghav Khanna, Frank Liebisch, Juan Nieto, Roland Siegwart
weedNet: Dense Semantic Weed Classification Using Multispectral Images and MAV for Smart Farming
published pages: 588-595, ISSN: 2377-3766, DOI: 10.1109/lra.2017.2774979
IEEE Robotics and Automation Letters 3/1 2019-05-30
2018 Miki, Takahiro; Popovic, Marija; Gawel, Abel; Hitz, Gregory; Siegwart, Roland
Multi-agent Time-based Decision-making for the Search and Action Problem
published pages: , ISSN: , DOI:
International Conference on Robotics and Automation (ICRA) 4 2019-05-30
2018 Inkyu Sa, Mina Kamel, Michael Burri, Michael Bloesch, Raghav Khanna, Marija Popovic, Juan Nieto, Roland Siegwart
Build Your Own Visual-Inertial Drone: A Cost-Effective and Open-Source Autonomous Drone
published pages: 89-103, ISSN: 1070-9932, DOI: 10.1109/MRA.2017.2771326
IEEE Robotics & Automation Magazine 25/1 2019-05-30
2018 Helen Oleynikova, Zachary Taylor, Roland Siegwart, Juan Nieto
Safe Local Exploration for Replanning in Cluttered Unknown Environments for Microaerial Vehicles
published pages: 1474-1481, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2800109
IEEE Robotics and Automation Letters 3/3 2019-05-30
2018 Achim Walter, Raghav Khanna, Philipp Lottes, Cyrill Stachnis, Roland Siegwart, Juan Nieto, Frank Liebisch
Flourish-A robotic approach for automation in crop management
published pages: , ISSN: , DOI:
International Conference on Precision Agriculture 6 2019-05-30
2018 Nived Chebrolu, Thomas Labe, Cyrill Stachniss
Robust Long-Term Registration of UAV Images of Crop Fields for Precision Agriculture
published pages: 3097-3104, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2849603
IEEE Robotics and Automation Letters 3/4 2019-05-30
2018 Bähnemann, Rik; Pantic, Michael; Popvić, Marija; Schindler, Dominik; Tranzatto, Marco; Kamel, Mina; Grimm, Marius; Widauer, Jakob; Siegwart, Roland; Nieto, Juan
The ETH-MAV Team in the MBZ International Robotics Challenge
published pages: , ISSN: , DOI:
arXiv 1 2019-05-30
2018 Marco Imperoli, Ciro Potena, Daniele Nardi, Giorgio Grisetti, Alberto Pretto
An Effective Multi-Cue Positioning System for Agricultural Robotics
published pages: 3685-3692, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2855052
IEEE Robotics and Automation Letters 3/4 2019-05-30
2018 Philipp Lottes, Jens Behley, Andres Milioto, Cyrill Stachniss
Fully Convolutional Networks With Sequential Information for Robust Crop and Weed Detection in Precision Farming
published pages: 2870-2877, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2846289
IEEE Robotics and Automation Letters 3/4 2019-05-30
2018 Lottes, Philipp; Behley, Jens; Chebrolu, Nived; Milioto, Andres; Stachniss, Cyrill
Joint Stem Detection and Crop-Weed Classification for Plant-specific Treatment in Precision Farming
published pages: , ISSN: , DOI:
International Conference on Intelligent Robots and Systems (IROS) 1 2019-05-30
2018 Valls, Miguel de la Iglesia; Hendrikx, Hubertus Franciscus Cornelis; Reijgwart, Victor; Meier, Fabio Vito; Sa, Inkyu; Dubé, Renaud; Gawel, Abel Roman; Bürki, Mathias; Siegwart, Roland
Design of an Autonomous Racecar: Perception, State Estimation and System Integration
published pages: , ISSN: , DOI:
International Conference on Robotics and Automation (ICRA) 1 2019-05-30

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The information about "FLOURISH" are provided by the European Opendata Portal: CORDIS opendata.

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