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Article

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

1
Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia
2
Institute for Marine and Coastal Research, University of Dubrovnik, Kneza Damjana Jude 12, 20000 Dubrovnik, Croatia
3
Faculty of Agriculture, University of Zagreb, Svetošimunska cesta 25, 10000 Zagreb, Croatia
*
Author to whom correspondence should be addressed.
This article is an extension of a conference paper: Goričanec, J.; Kapetanović, N.; Vatavuk, I.; Hrabar, I.; Vasiljević, G.; Gledec, G.; Stuhne, D.; Bogdan, S.; Orsag, M.; Petrović, T. Heterogeneous autonomous robotic system in viticulture and mariculture—project overview. In Proceedings of the 16th International Conference on Telecommunications: ConTEL 2021, Zagreb, Croatia, 30 June–2 July 2021.
Academic Editor: Felipe Martins
Sensors 2022, 22(8), 2961; https://doi.org/10.3390/s22082961
Received: 1 March 2022 / Revised: 1 April 2022 / Accepted: 9 April 2022 / Published: 12 April 2022
(This article belongs to the Collection Smart Robotics for Automation)
There are activities in viticulture and mariculture that require extreme physical endurance from human workers, making them prime candidates for automation and robotization. This paper presents a novel, practical, heterogeneous, autonomous robotic system divided into two main parts, each dealing with respective scenarios in viticulture and mariculture. The robotic components and the subsystems that enable collaboration were developed as part of the ongoing HEKTOR project, and each specific scenario is presented. In viticulture, this includes vineyard surveillance, spraying and suckering with an all-terrain mobile manipulator (ATMM) and a lightweight autonomous aerial robot (LAAR) that can be used in very steep vineyards where other mechanization fails. In mariculture, scenarios include coordinated aerial and subsurface monitoring of fish net pens using the LAAR, an autonomous surface vehicle (ASV), and a remotely operated underwater vehicle (ROV). All robotic components communicate and coordinate their actions through the Robot Operating System (ROS). Field tests demonstrate the great capabilities of the HEKTOR system for the fully autonomous execution of very strenuous and hazardous work in viticulture and mariculture, while meeting the necessary conditions for the required quality and quantity of the work performed. View Full-Text
Keywords: viticulture; mariculture; heterogeneous robotic system; all-terrain mobile manipulator; light autonomous aerial robot; autonomous surface vehicle; remotely operated vehicle; landing platform; tether management system; acoustical underwater localization viticulture; mariculture; heterogeneous robotic system; all-terrain mobile manipulator; light autonomous aerial robot; autonomous surface vehicle; remotely operated vehicle; landing platform; tether management system; acoustical underwater localization
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MDPI and ACS Style

Kapetanović, N.; Goričanec, J.; Vatavuk, I.; Hrabar, I.; Stuhne, D.; Vasiljević, G.; Kovačić, Z.; Mišković, N.; Antolović, N.; Anić, M.; Kozina, B. Heterogeneous Autonomous Robotic System in Viticulture and Mariculture: Vehicles Development and Systems Integration. Sensors 2022, 22, 2961. https://doi.org/10.3390/s22082961

AMA Style

Kapetanović N, Goričanec J, Vatavuk I, Hrabar I, Stuhne D, Vasiljević G, Kovačić Z, Mišković N, Antolović N, Anić M, Kozina B. Heterogeneous Autonomous Robotic System in Viticulture and Mariculture: Vehicles Development and Systems Integration. Sensors. 2022; 22(8):2961. https://doi.org/10.3390/s22082961

Chicago/Turabian Style

Kapetanović, Nadir, Jurica Goričanec, Ivo Vatavuk, Ivan Hrabar, Dario Stuhne, Goran Vasiljević, Zdenko Kovačić, Nikola Mišković, Nenad Antolović, Marina Anić, and Bernard Kozina. 2022. "Heterogeneous Autonomous Robotic System in Viticulture and Mariculture: Vehicles Development and Systems Integration" Sensors 22, no. 8: 2961. https://doi.org/10.3390/s22082961

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