Toward Modular Aerial Robotic System for Applications in Precision Agriculture

This paper presents the process of designing an aerial modular robotic system for applications in precision agriculture. Applications for carrying out missions involving cargo transfer such as spraying, sowing, and fertilizing are considered. For the purpose of conducting experiments, the modular multirotor configuration basic parameters are defined, and the control scheme is presented. In the system design phase, the main goal is to design a modular system that allows the implementation of different types of missions. Based on the characteristics of electric propulsion units, components were selected, and the concept of a modular aircraft was presented. Then, based on the system parameters, simulations of specific tasks were performed. In the first phase of aircraft prototyping, a quadrotor propulsion module was manufactured and assembled allowing preliminary experiments of aircraft attitude control.