20.500.12556/RUL-190874 Modularna vsesmerna mobilna robotska platforma za spremljanje rastlin in plodov v rastlinjaku Modular omnidirectional mobile robotic platform for greenhouse plant and fruit monitoring The paper presents the design of a modular omnidirectional mobile robotic platform for greenhouse plant and fruit monitoring. The platform is conceived as a carrier for repeatable acquisition of spatially referenced RGBD data along plant rows and as a basis for later integration of manipulation modules. The mobile base uses four omnidirectional wheels, enabling planar holonomic motion required for alignment in narrow greenhouse corridors. The paper introduces the kinematic model of the mobile base, outlines the control and safety architecture, and specifies a vertical perception module based on four ZED X Mini stereo depth cameras. Each camera is paired with intensity-controlled panel illumination to improve repeatability under variable greenhouse lighting. The proposed architecture links mobility, perception and data management into a reconfigurable platform for plant monitoring, fruit detection, yield estimation and further robotic operations. mobilna robotika spremljanje rastlin pametno in precizno kmetijstvo mobile robotics plant monitoring smart and precision agriculture true false true Slovenski jezik Angleški jezik Neznano 2026-11-05 15:33:45 2026-11-05 15:33:48 2026-11-07 03:38:18 0000-00-00 00:00:00 2026 0 0 Str. 188-191 0000-00-00 NiDoloceno Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 621.3 2591-0442 301113347 292311811 RAZ_Domajnko_Helena_2026.pdf RAZ_Domajnko_Helena_2026.pdf 1 59BF88CEDD7C6CA395CC4CED4966D29C 33d42ffa711340a2af20749cf00537fc99997146a1037fd5a9df1ed1ab2ff5c1 d6c0d560-d925-11f1-aea2-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=252630 https://erk.fe.uni-lj.si/2026/papers/domajnko(modularna_vsesmerna).pdf 0 eeb8e759-d925-11f1-aea2-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=252631 Fakulteta za elektrotehniko 0 0 0