Heterogeneous autonomous robotic system in viticulture and mariculture - project overview

This paper presents the overview and preliminary results of the HEKTOR - Heterogeneous Autonomous Robotic System in Viticulture and Mariculture project. HEKTOR is divided into two main parts, each dealing with specific scenarios in viticulture and mariculture. The robots used in the project and each specific scenario considered are presented. In viticulture, this includes vineyard surveillance, spraying and bud rubbing using an all-terrain mobile manipulator and unmanned aerial vehicle (UAV). In mariculture, scenarios include coordinated monitoring of fish net cages from below the surface and from the air, using the UAV, an unmanned surface vehicle (USV) and a remotely operated underwater vehicle (ROV).