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Mobile Robotics in Agricultural Operations: A Narrative Review on Planning Aspects

Institute for Bio-Economy and Agri-Technology (iBO), Center for Research and Technology—Hellas (CERTH), 57001 Thessaloniki, Greece
Centre for International Manufacturing, Institute for Manufacturing (IfM), Department of Engineering, School of Technology, University of Cambridge, Cambridge CB3 0FS, UK
Department of Engineering, Aarhus University, DK-8000 Aarhus C, Denmark
Lincoln Institute for Agri-Food Technology (LIAT), University of Lincoln, Lincoln LN6 7TS, UK
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(10), 3453;
Received: 20 February 2020 / Revised: 30 April 2020 / Accepted: 7 May 2020 / Published: 17 May 2020
(This article belongs to the Special Issue Applied Agri-Technologies)
The advent of mobile robots in agriculture has signaled a digital transformation with new automation technologies optimize a range of labor-intensive, resources-demanding, and time-consuming agri-field operations. To that end a generally accepted technical lexicon for mobile robots is lacking as pertinent terms are often used interchangeably. This creates confusion among research and practice stakeholders. In addition, a consistent definition of planning attributes in automated agricultural operations is still missing as relevant research is sparse. In this regard, a “narrative” review was adopted (1) to provide the basic terminology over technical aspects of mobile robots used in autonomous operations and (2) assess fundamental planning aspects of mobile robots in agricultural environments. Based on the synthesized evidence from extant studies, seven planning attributes have been included: (i) high-level control-specific attributes, which include reasoning architecture, the world model, and planning level, (ii) operation-specific attributes, which include locomotion–task connection and capacity constraints, and (iii) physical robot-specific attributes, which include vehicle configuration and vehicle kinematics. View Full-Text
Keywords: planning; agriculture; locomotion; coordination; routing; operation research planning; agriculture; locomotion; coordination; routing; operation research
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Moysiadis, V.; Tsolakis, N.; Katikaridis, D.; Sørensen, C.G.; Pearson, S.; Bochtis, D. Mobile Robotics in Agricultural Operations: A Narrative Review on Planning Aspects. Appl. Sci. 2020, 10, 3453.

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