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Dormant season grapevine pruning requires skilled seasonal workers during thewinter season which are becoming less available. As workers hasten to prunemore vines in less time amid to the short-term seasonal hiring culture and lowwages, vines are often pruned inconsistently leading to imbalanced grapevines.In addition to this, currently existing mechanical methods cannot selectivelyprune grapevines and manual follow-up operations are often required thatfurther increase production cost. In this paper, we present the design andfield evaluation of a rugged, and fully autonomous robot for end-to-end pruningof dormant season grapevines. The proposed design incorporates novel camerasystems, a kinematically redundant manipulator, a ground robot, and novelalgorithms in the perception system. The presented research prototype robotsystem was able to spur prune a row of vines from both sides completely in 213sec/vine with a total pruning accuracy of 87%. Initial field tests of theautonomous system in a commercial vineyard have shown significant variabilityreduction in dormant season pruning when compared to mechanical pre-pruningtrials. The design approach, system components, lessons learned, futureenhancements as well as a brief economic analysis are described in themanuscript.

Bumblebee: A Path Towards Fully Autonomous Robotic Vine Pruning