Italian olive-growing tradition is going through a difficult period which can cause serious damages to the agricultural sector. Main causes are related to economics and social factors such as high management costs and lack of manpower, due to high risk of injuries and absence of generational change, since younger generations are not interested in this field. The Tuscany region-funded project Robolio aims to tackle these issues by developing a fully autonomous robotic system for olive harvesting. This solution is based on a tracked excavator equipped with an olive harvester with elongated rubber-coated tines as end-effector. The main task of the robotic system is to perform the harvesting of olives in an efficient way, paying attention to the health of the tree.