Agricultural robotics

Current project

Since September 2026, I have been working on agricultural robot integration, camera interfaces and flexible-arm control. The work currently consists of several software components with separate validation records.

Flexible-arm control

I extend the existing ATArm controller with local numerical-Jacobian position control, external metric pose feedback and offline commissioning checks.

Camera and perception tooling

The camera work includes ROS interfaces, synchronized data recording and diagnostic scripts. A separate offline leaf-segmentation pilot covers image organization, assisted annotation, YOLO11n-seg fine-tuning and prediction inspection.

Camera software has been checked with synthetic data; full camera-and-arm commissioning remains pending. The segmentation pilot uses a small set of images from one field session and assisted labels awaiting human review. It has not been integrated into robot control or validated across independent field conditions.