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- W4387143508 abstract "This paper proposes a multi-purpose autonomous mobile robot as part of agricultural decision support systems that can contribute to sustainable high-yield and lowinput agriculture. The functions required here include selflocalization with sufficient accuracy to enable intra-row precision tasks, manipulator tasks to break through the limitations of non-contact sensing, and integrating the obtained position and multiple sensing information. However, there are farmspecific challenges in autonomous robot operation, such as highly periodic structures with few visual differences between plants and uncertainties, such as uneven road surfaces and variations in crop visibility. We propose an autonomous interrow crop and soil sensing robotic system that coordinates autonomous navigation using 3D LiDAR-based probabilistic localization with manipulator control, by a state machine. Through actual field experiments, we demonstrated that the proposed system could autonomously perform a series of tasks, including navigation to the target sensing location and acquiring soil moisture and electrical conductivity (EC) values. The results indicate that it is possible to integrate location with multiple sensor information, which will lead to, for example, detecting good and poor growing areas for agricultural decision support systems." @default.
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- W4387143508 date "2023-08-26" @default.
- W4387143508 modified "2023-09-30" @default.
- W4387143508 title "A Multi-Purpose Autonomous Mobile Robot as a Part of Agricultural Decision Support Systems" @default.
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- W4387143508 doi "https://doi.org/10.1109/case56687.2023.10260483" @default.
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