Optimal Scheduling of a Dual-Arm Robot for Efficient Strawberry Harvesting in Plant Factories

Specifically, we focus on a specialized dual-arm harvesting robot and employ pose coverage analysis of its end effector to maximize picking reachability. Additionally, we compare the performance of the dual-arm configuration with that of a single-arm vehicle, demonstrating that the dual-arm system can nearly double efficiency when fruit densities are roughly equal on both sides. Extensive simulations show a 10-20% increase in throughput and a significant reduction in the number of stops compared to nonoptimized methods. These results underscore the advantages of an optimal scheduling approach in improving the scalability and efficiency of robotic harvesting in plant factories. I. INTRODUCTION In response to challenges posed by land policies and significant labor shortages worldwide, plant factory cultivation has emerged as a promising solution to enhance agricultural productivity[1]. The proliferation and advancement of these cultivation models have significantly boosted the mass and continuous production of fruits and vegetables[2]. In those environments, robotic farming equipment has become essential for managing complex and labor-intensive horticultural tasks, enhancing efficiency, and optimizing production processes[3]. By integrating robotic systems within plant factories, high efficiency in crop management tasks can be achieved, particularly in labor-intensive harvesting processes[4].