Agrofelis Robot

The Agrofelis Robot is a multipurpose agricultural robot which is energy dense programmable AI-Ready and precision agriculture capable.

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The Agrofelis Robot is a multipurpose agricultural robot which is low cost, energy dense, programmable, AI-Ready and precision agriculture capable. The vast majority of agricultural cultivations is comprised by small farms less than 2 hectares. Automated machinery that can bridge the gap between hand-held tools and tractors, are most suitable for such farms. The Agrofelis base vehicle can be used as a carrier of various implements such as grass cutter, turbine sprayers, fog sprayers, fertilizer spreader and other tools.

The Agrofelis Robot, could offer a mechanized solution which incorporates an array of sensors, like LIDAR, Hall sensors, gyroscopes, motion feedback and camera. The fabrication of the robot, uses simple materials and commercially available components. The Robot can be easily reproduced in single units or small batches by following the documentation.

Agrofelis Robot

Multipurpose Energy-Dense, Implement Carrier Agricultural Robot.

A Programmable, AI-Ready Precision Agriculture Base Vehicle.

The Problem

The convergence of declining demographics, economic disparities, rising energy costs and supply chain disruptions in the West and the looming specter of climate change has created a perilous confluence of issues particularly impacting agriculture and public safety.

In the agricultural sector, farmers are experiencing growing difficulty finding seasonal farm workers while also having to deal with the escalating costs of cultivation, which results in marginal profits, unharvested crops, and even abandoned farms. To combat these hurdles, there is an urgent need for an affordable and efficient platform that bridges the gap between traditional tractors and handheld tools and multiplies an unskilled farm worker's productivity. This imperative solution is crucial for small-scale farmers in order to safeguard their existing agricultural capital.

Moreover, the repercussions of climate change have increased the likelihood of wildfires. As fire departments confront more frequent fires, the necessity for an affordable vehicle that can serve in an integrated role with firefighting units in rural areas to reduce workloads and provide standoff safety from heat exposure is critical. A production line for firefighting robots could prove a real business challenge because of low utilization of the vehicles (typically under 100 hours/year), and a number of fire fighting departments have resorted to DIY solutions.

Existing vehicles on the market that can serve as adaptable platforms for various tasks are either prohibitively expensive or just not available. So it is essential to offer the ability of manufacturing a low-cost base vehicle within local machine shops, in single units or small volumes, that has a small footprint, is energy dense and agile and holds the potential to tackle localized challenges in agriculture and public safety sectors. The proposed, prototyped and open-sourced robotic vehicle system attempts to address those needs through the variety of applications in those fields in the lowest possible cost and could be utilized and manufactured by individual farmers, agricultural cooperatives, fire departments, municipalities, and beyond.

The Technology Considerations

The majority of technical solutions proposed for agricultural robotic systems aim for high levels of autonomy by using satellite positioning systems such as RTK GNSS (Real-Time Kinematic Global Navigation Satellite Systems), cameras and LIDAR sensors for achieving Simultaneous Localization And Mapping (SLAM), as well as supplementary systems like radars, odometers and inertial systems.

In the case of RTK GNSS, signal interruption due to foliage, weather conditions, or a lack of ground stations limits its usefulness. LIDAR, on the other hand, can be combined with odometers, cameras and IMUs, with no reliance on external signals. Additionally, the use of cheaper 2D LIDAR on a tilting mechanism allows 3D coverage with considerably lower cost. The strategic selection of LiFePO4 batteries offers endurance in high temperatures, in-combustibility, utilization of non-toxic materials, the ability to work unevenly charged and a slow rate of self-discharge. Introducing a remote control system capable of automating certain operations through recording and replaying can offer an affordable alternative suitable for smaller platforms, while also having a broader applicability and offering a considerable boost in overall productivity.

The Potential

Within the scope of an agricultural vehicle, a variety of technologies could be integrated, encompassing implements such as:

  • Grass Cutter/Lawn Mower: A frequent and necessary application in orchards.
  • Turbine Sprayers: Beneficial across orchards and vegetable cultivations for dispensing pesticides or water-soluble fertilizers.
  • Fog Sprayers: Enabling extended reach...
Read more »


All documents of the Agrofelis documentation have been rendered using Latex and have been combined into a single printable PDF file, making up the 237 pages Agrofelis Documentation Handbook.

Adobe Portable Document Format - 39.55 MB - 10/09/2023 at 17:16


The infrastructure provisioning, computing elements and data fusion document presents the provision of the main computing elements of the robot and initiation of its services. The peripheral elements established and attached to the local Agrofelis WIFI network and its USB hub are enumerated. The GPU component and the neural network accelerator tapping to the USB3 interface of the Jetson Nano are presented. The Agrofelis Unificator Software, connecting all Agrofelis modules is introduced and its source code and features presented. Also provided are lightweight 3D printed structural elements that organize the components in the limited space available for their USB cables and secure the components and the USB hub in their compartment. The document concludes with a list of the components used and indicative suppliers, aiding the replication of the Agrofelis computing and networking systems.

x-zip-compressed - 4.61 MB - 09/10/2023 at 21:56


The remote controller design and fabrication document presents the details of fabricating a baseline remote controller for actuating the wheels, steering, brakes and power functions of the Agrofelis robot. Emphasizing ergonomics, cost-effectiveness and the use of readily available components, a simple extendable design is presented, rapidly prototyping the minimum number of sensors and components needed for booting and controlling the mobility functions of the vehicle. The software source code running on the micro-controller is also presented, following approaches similar to those implemented in other Agrofelis modules. The document concludes with a list of components used and provides information on indicative suppliers, aiding in the replication of the module.

x-zip-compressed - 3.00 MB - 09/10/2023 at 21:53


The two degrees of freedom rotating implement mount document outlines the construction of the Rotating Implement Mount (RIM), a crucial component positioned atop the Agrofelis robot. The RIM's primary function is to enable the use of various implements, such as the thermal fogger featured in the presentation video. This report covers the rationale behind the module, its schematics, source code files and details of the manufacturing process. The document concludes with a list of the components used and assorted with indicative suppliers, facilitating the replication of the module.

x-zip-compressed - 8.28 MB - 09/10/2023 at 21:52


The 3D Lidar front sensors design and fabrication document details the creation of the front sensors module, which is used to install a 3D Lidar mount on the Agrofelis robot, enabling it to have spatial awareness of its surroundings. The module comprises an ESP32, an ESP32 Terminal Adapter, a Servo, a Lidar, an MPU and a GPS sensor. The module facilitates the tilting of the 2D Lidar to capture multiple planes of 360-degree coverage, effectively creating a spherical 3D view of its surroundings. The rationale behind the module, its schematics, the manufacturing process, the software controlling the module and reflecting its information, as well as a Lidar data analysis tool developed, are all discussed. The document concludes with a list of the components used and indicative suppliers, aiding in the replication of the module.

x-zip-compressed - 5.85 MB - 09/10/2023 at 21:50


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Mateio wrote 10/14/2023 at 15:19 point

This is impressive. I am by no means a professional farmer but have toyed with the idea of putting together something similar (but less ambitious) for a while to help with gardening around the property. I’m eager to follow your updates. Good job!

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kp wrote 10/14/2023 at 17:21 point

Thank you Mateio !!

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mixalisgyzi wrote 09/17/2023 at 23:02 point

The Agrofelis project seems to suggest an innovative solution for simplifying the farming procedure, during the seasonal cycle of cultivation. The integration of modern technologies in cost-effective and efficient way gives a potential to extend the capabilities of small and medium scale farmers to manage their corps and to face the shortage of available farm workers effectively. The implementation of lidar and AI technology introduce enhanced ability to manage and control safely the procedure and i am really curious to know about the ability of Agrofelis to give accurate diagnosis on the condition of cultivation through AI apps.

Wish you the best.

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kp wrote 09/18/2023 at 07:41 point

Thank you mixalisgyzi !! looking forward for the future of Agrofelis !! your comments inspire us !!

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Michalis wrote 09/16/2023 at 15:22 point

Congratulations on the successful development of the Agrofelis—a versatile, promising vehicle, created from the ground up on a low budget which integrates a range of cutting-edge technologies. I am confident that the newborn Agrofelis will surpass all expectations and prove to be an invaluable asset, especially for small and medium-scale farmers.

I wish Agrofelis the very best in its journey of progress and evolution!

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kp wrote 09/18/2023 at 07:38 point

Thank you very much Michalis !!!

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