{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,8]],"date-time":"2026-04-08T00:53:35Z","timestamp":1775609615256,"version":"3.50.1"},"reference-count":34,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2023,10,28]],"date-time":"2023-10-28T00:00:00Z","timestamp":1698451200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100010661","name":"Horizon 2020 PestNu project","doi-asserted-by":"publisher","award":["101037128"],"award-info":[{"award-number":["101037128"]}],"id":[{"id":"10.13039\/100010661","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>Due to the accelerated growth of the world\u2019s population, food security and sustainable agricultural practices have become essential. The incorporation of Artificial Intelligence (AI)-enabled robotic systems in cultivation, especially in greenhouse environments, represents a promising solution, where the utilization of the confined infrastructure improves the efficacy and accuracy of numerous agricultural duties. In this paper, we present a comprehensive autonomous navigation architecture for holonomic mobile robots in greenhouses. Our approach utilizes the heating system rails to navigate through the crop rows using a single stereo camera for perception and a LiDAR sensor for accurate distance measurements. A finite state machine orchestrates the sequence of required actions, enabling fully automated task execution, while semantic segmentation provides essential cognition to the robot. Our approach has been evaluated in a real-world greenhouse using a custom-made robotic platform, showing its overall efficacy for automated inspection tasks in greenhouses.<\/jats:p>","DOI":"10.3390\/robotics12060146","type":"journal-article","created":{"date-parts":[[2023,10,30]],"date-time":"2023-10-30T09:27:28Z","timestamp":1698658048000},"page":"146","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":17,"title":["An Autonomous Navigation Framework for Holonomic Mobile Robots in Confined Agricultural Environments"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2580-4446","authenticated-orcid":false,"given":"Kosmas","family":"Tsiakas","sequence":"first","affiliation":[{"name":"Information Technologies Institute, Centre for Research and Technology Hellas, 57001 Thessaloniki, Greece"},{"name":"Department of Production and Management Engineering, Democritus University of Thrace, 67132 Xanthi, Greece"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6074-4288","authenticated-orcid":false,"given":"Alexios","family":"Papadimitriou","sequence":"additional","affiliation":[{"name":"Information Technologies Institute, Centre for Research and Technology Hellas, 57001 Thessaloniki, Greece"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6385-2815","authenticated-orcid":false,"given":"Eleftheria Maria","family":"Pechlivani","sequence":"additional","affiliation":[{"name":"Information Technologies Institute, Centre for Research and Technology Hellas, 57001 Thessaloniki, Greece"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1844-186X","authenticated-orcid":false,"given":"Dimitrios","family":"Giakoumis","sequence":"additional","affiliation":[{"name":"Information Technologies Institute, Centre for Research and Technology Hellas, 57001 Thessaloniki, Greece"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9446-2297","authenticated-orcid":false,"given":"Nikolaos","family":"Frangakis","sequence":"additional","affiliation":[{"name":"iKnowHow S.A., 15451 Athens, Greece"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5421-0332","authenticated-orcid":false,"given":"Antonios","family":"Gasteratos","sequence":"additional","affiliation":[{"name":"Department of Production and Management Engineering, Democritus University of Thrace, 67132 Xanthi, Greece"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6915-6722","authenticated-orcid":false,"given":"Dimitrios","family":"Tzovaras","sequence":"additional","affiliation":[{"name":"Information Technologies Institute, Centre for Research and Technology Hellas, 57001 Thessaloniki, Greece"}]}],"member":"1968","published-online":{"date-parts":[[2023,10,28]]},"reference":[{"key":"ref_1","unstructured":"Sarkar, S., Gil, J.D.B., Keeley, J., and Jansen, K. 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