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This is a Quantitative Study study.

October 16, 2025Open Access

Fast Heuristic Scheduling and Trajectory Planning for Robotic Fruit Harvesters with Multiple Cartesian Arms

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A heuristic method enhances fruit-picking throughput in robotic arms, indicating efficient scheduling and trajectory planning.

The algorithm achieves increased fruit-picking throughput as more robotic arms are added, boosting efficiency.
Throughput improved with higher fruit densities, indicating the method's dependence on fruit distribution.
Workspace partitioning and sequence assignment are key features in optimizing arm movement and schedules.
Diminishing returns were observed at low fruit densities, highlighting limits to additional arms' efficiency.

Zhu et al. (2025) studied this question.

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