This paper presents a comprehensive review of ground agricultural robotic systems and applications with special focus on harvesting that span research and commercial products and results, as well as their enabling technologies. The majority of literature concerns the development of crop detection, field navigation via vision and their related challenges. Health monitoring, yield estimation, water status inspection, seed planting and weed removal are frequently encountered tasks. Regarding robotic harvesting, apples, strawberries, tomatoes and sweet peppers are mainly the crops considered in publications, research projects and commercial products. The reported harvesting agricultural robotic solutions, typically consist of a mobile platform, a single robotic arm/manipulator and various navigation/vision systems. This paper reviews reported development of specific functionalities and hardware, typically required by an operating agricultural robot harvester; they include (a) vision systems, (b) motion planning/navigation methodologies (for the robotic platform and/or arm), (c) Human-Robot-Interaction (HRI) strategies with 3D visualization, (d) system operation planning & grasping strategies and (e) robotic end-effector/gripper design. Clearly, automated agriculture and specifically autonomous harvesting via robotic systems is a research area that remains wide open, offering several challenges where new contributions can be made.

翻译：本文对地面农业机器人系统及其应用进行了全面综述，特别聚焦于收获环节，涵盖了研究领域与商业产品的成果及其使能技术。现有文献主要涉及作物检测、基于视觉的田间导航技术及其相关挑战。健康监测、产量预估、水分状态检测、播种及除草是常见任务。在机器人收获领域，苹果、草莓、番茄和甜椒是出版物、研究项目和商业产品中主要关注的作物。已报道的农业收获机器人解决方案通常由移动平台、单机械臂/操作器及多种导航/视觉系统构成。本文综述了农业机器人收获机运行所需特定功能与硬件的研发进展，包括：(a)视觉系统，(b)运动规划/导航方法（针对机器人平台和/或机械臂），(c)结合三维可视化的人机交互策略，(d)系统运行规划与抓取策略，以及(e)机器人末端执行器/夹持器设计。显然，自动化农业（特别是通过机器人系统实现的自主收获）仍是一个开放的研究领域，存在诸多可供创新贡献的挑战。