Hierarchical robotic crane system for post grid array environments

A robotic system of crane systems is proposed and simulated for a vanilla pollination application. The system could be used for other applications where a grid of posts is serviced in an area suitable for overhead cranes. Existing crane systems could work together with new crane equipment in a hierarchical manner. A docking crane system with two or more six degrees of freedom cranes services the area around posts upon which it docks. Vision is used for subject recognition and control feedback.