Heterogeneous Autonomous Robotic System in Viticulture and Mariculture: Vehicles Development and Systems Integration

Area of Science:

• Agricultural Robotics
• Marine Robotics
• Automation Systems

Background:

• Viticulture and mariculture involve physically demanding tasks unsuitable for humans.
• Existing mechanization is limited in challenging terrains like steep vineyards.
• There is a need for autonomous solutions in these sectors.

Purpose of the Study:

• To present a novel, heterogeneous, autonomous robotic system for viticulture and mariculture.
• To demonstrate the collaborative capabilities of developed robotic components.
• To showcase the HEKTOR project's advancements in agricultural and marine automation.

Main Methods:

• Development of an all-terrain mobile manipulator (ATMM) and a lightweight autonomous aerial robot (LAAR).
• Integration of an autonomous surface vehicle (ASV) and a remotely operated underwater vehicle (ROV) for mariculture.
• Utilizing the Robot Operating System (ROS) for inter-robot communication and coordination.

Main Results:

• Successful autonomous execution of vineyard surveillance, spraying, and suckering using ATMM and LAAR.
• Coordinated aerial and subsurface monitoring of fish net pens achieved with LAAR, ASV, and ROV.
• Field tests confirmed the HEKTOR system's capability for strenuous and hazardous work.

Conclusions:

• The HEKTOR system offers a viable solution for automating difficult tasks in viticulture and mariculture.
• Autonomous robots can perform strenuous and hazardous jobs with high quality and quantity.
• This research advances the potential for widespread robotization in demanding industries.