Mission Supervisor for Food Factories Robots

• Type: Article in International Conference Proceedings Book
• Date: 2024

Authors

Moreira, T (Author) Other; Filipe Neves Santos (Author) FEUP; Santos, L (Author) Other; Sarmento, J (Author) Other; Terra, F (Author) Other; Armando Jorge Sousa (Author) FEUP

Conference proceedings International

Title: ROBOT 2023: SIXTH IBERIAN ROBOTICS CONFERENCE, VOL 2

Pages: 398-409

6th Iberian Robotics Conference (Robot)

Coimbra, PORTUGAL, NOV 22-24, 2023

Indexing

ISI Web of Knowledge - 1 Citation

Scopus - 0 Citations

Other information

Authenticus ID: P-010-EZ8

DOI: 10.1007/978-3-031-59167-9_33

Abstract (EN): Climate change, limited natural resources, and the increase in the world's population impose society to produce food more sustainably, with lower energy and water consumption. The use of robots in agriculture is one of the most promising solutions to change the paradigm of agricultural practices. Agricultural robots should be seen as a way to make jobs easier and lighter, and also a way for people who do not have agricultural skills to produce their food. The PixelCropRobot is a low-cost, open-source robot that can perform the processes of monitoring and watering plants in small gardens. This work proposes a mission supervisor for PixelCropRobot, and general agricultural robots, and presents a prototype of user interface to this mission supervision. The communication between the mission supervisor and the other components of the system is done using ROS2 and MQTT, and mission file standardized. The mission supervisor receives a prescription map, with information about the respective mission, and decomposes them into simple tasks. An A* algorithm then defines the priority of each mission that depends on factors like water requirements, and distance travelled. This concept of mission supervisor was deployed into the PixelCropRobot and was validated in real conditions, showing a enormous potential to be extended to other agricultural robots.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12