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AUTONOMOUS FRUIT PICKING

Overview

Digital Twin Safety for HRI

Test Environments

Comparative Analysis
Isaac Simulation
Gazebo Classic
Gazebo Fortress

Safety Protocols

Robotic Protocols
Pertinent Standard: ISO 13482
Pertinent Standard: IEEE P7009

Data Protection Policies

Retail Robot Operations
Privacy Protection

Person Detection

ZED 2i Overview
ZED 2i Relevancy
ZED 2i Compatability

ROS2 Navigation

Nav2 Local & Global Planners
Nav2 Key Parameters
Nav2 Experimental Parameters

Experimentation

NavFn Planner + DWB Controller
NavFn Planner + MPPI Controller
NavFn Planner + RPP Controller
Theta* Planner + RPP Controller
SMAC Planner + MPPI Controller

Results

Nav2 Performance for Safety Scenarios
Nav2 Suitability for Different Robots
Nav2 Controller Suitability for Different Robots
Conclusion

AUTONOMOUS FRUIT PICKING

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