Decentralized Autonomous Farm Management

This paper presents an autonomous farm management system leveraging IoT-enabled sensor nodes and a GPS-free autonomous rover for precision agriculture. The proposed system addresses key challenges in farming, such as anomaly detection, resource optimization, and efficient navigation, by employing a robust communication architecture utilizing ESP-NOW and MQTT protocols. Sensor nodes equipped with solar-powered sensors monitor soil parameters like moisture, pH, temperature, and nutrient levels, while forming a resilient mesh network for real-time data synchronization. The rover, guided by a decentralized localization approach, employs advanced path optimization strategies-Minimum Spanning Tree (MST) for static anomalies and a Gradient Boosting Regressor (GBR)-based dynamic routing mechanism for real-time adaptability. Results demonstrate significant reductions in resource consumption and high accuracy in anomaly detection. This architecture is highly adaptable, enabling its application in other non-GPS environments, such as remote exploration and disaster management.