A Multi-Agent Agricultural Robot System for Precision Crop Monitoring

Evgenii Mitrofanov; Ivan Blekanov; Aleksey Martemyanov; Evgenii Kruchinin; Rodion Akhrameev; Olga Mitrofanova

Evgenii Mitrofanov Saint Petersburg State University https://orcid.org/0000-0002-1967-5126
Ivan Blekanov Saint Petersburg State University https://orcid.org/0000-0002-7305-1429
Aleksey Martemyanov Saint Petersburg State University https://orcid.org/0009-0004-9041-4385
Evgenii Kruchinin Saint Petersburg State University https://orcid.org/0009-0001-5029-4137
Rodion Akhrameev Saint Petersburg State University https://orcid.org/0009-0001-1597-9659
Olga Mitrofanova Saint Petersburg State University https://orcid.org/0000-0002-7059-4727

Keywords: Agricultural scouting robots, Route planning, Sensors, Smart agriculture, Dig-ital twin, Crop production.

Abstract

This paper focuses on automating crop production by proposing an integrated robotic based system for collecting and analyzing data from agro-industrial fields. The system comprises a robot, a computer or tablet application for managing the robots and viewing analytical information, and a server equipped with advanced artificial intelligence models for in-depth analysis of data received from the robots, facilitating the generation of agronomic recommendations. This work aims to create a comprehensive system that automatically collects data using modern sensors, processes it, and analyzes it in real time. The prototype is being developed taking into account its further use in agricultural fields before sowing, with potato or wheat crops. The paper details the robot’s structural features, its components, and the technical solutions employed during development. A 3D model of robot construction with deformation properties was developed. It also presents the software architecture that unifies the entire system into a cohesive operational mechanism, addressing various aspects, including safety considerations. In addition, the general robot work pipeline was proposed.