This work presents the design of Stickbug, a six-armed, multi-agent, precision pollination robot that combines the accuracy of single-agent systems with swarm parallelization in greenhouses. Precision pollination robots have often been proposed to offset the effects of a decreasing population of natural pollinators, but they frequently lack the required parallelization and scalability. Stickbug achieves this by allowing each arm and drive base to act as an individual agent, significantly reducing planning complexity. Stickbug uses a compact holonomic Kiwi drive to navigate narrow greenhouse rows, a tall mast to support multiple manipulators and reach plant heights, a detection model and classifier to identify Bramble flowers, and a felt-tipped end-effector for contact-based pollination. Initial experimental validation demonstrates that Stickbug can attempt over 1.5 pollinations per minute with a 50% success rate. Additionally, a Bramble flower perception dataset was created and is publicly available alongside Stickbug's software and design files.

翻译：本文介绍了Stickbug的设计，这是一种六臂多智能体精准授粉机器人，结合了单智能体系统的精确性与温室中集群并行化的优势。精准授粉机器人常被提出以缓解自然授粉者数量下降的影响，但其往往缺乏所需的并行化能力与可扩展性。Stickbug通过允许每个机械臂与驱动底盘作为独立智能体运行来实现这一点，从而显著降低了规划复杂度。Stickbug采用紧凑的全向Kiwi驱动系统以在狭窄的温室行间导航，通过高桅杆支撑多个机械臂并达到植物高度，利用检测模型与分类器识别黑莓花朵，并采用毛毡末端执行器进行接触式授粉。初步实验验证表明，Stickbug每分钟可尝试超过1.5次授粉，成功率达50%。此外，本研究创建了一个黑莓花朵感知数据集，并与Stickbug的软件及设计文件一同公开提供。