PhenoRob performs world-leading research in robotics and phenotyping for sustainable crop production. Our vision is to transform crop production by optimizing breeding and farming management through developing and deploying new technologies. PhenoRob addresses a real-world problem with a technology-oriented approach. Our scientists have backgrounds in computer science, geodesy, robotics, plant science, soil science, economics, and environmental science. This interdisciplinary team forms the only DFG-funded Cluster of Excellence focusing on agriculture. In Phenorob, our group focuses on active perception for mapping and inspection. We have developed new methods for viewpoint planning to enable better fruit detection and volume estimation in Core Project 1 of Phenorob. In the interdisciplinary Open Call 2 project, we extend the methods developed in CP1 and investigate new methods for activce perception for horticulture actions using robotic manipulation.