*Article* **A Non-Invasive Millimetre-Wave Radar Sensor for Automated Behavioural Tracking in Precision Farming—Application to Sheep Husbandry**

**Alexandre Dore 1,2,\*, Cristian Pasquaretta <sup>2</sup> , Dominique Henry 1,2, Edmond Ricard <sup>3</sup> , Jean-François Bompa <sup>3</sup> , Mathieu Bonneau <sup>4</sup> , Alain Boissy <sup>5</sup> , Dominique Hazard <sup>3</sup> , Mathieu Lihoreau 2,† and Hervé Aubert 1,†**


**Abstract:** The automated quantification of the behaviour of freely moving animals is increasingly needed in applied ethology. State-of-the-art approaches often require tags to identify animals, high computational power for data collection and processing, and are sensitive to environmental conditions, which limits their large-scale utilization, for instance in genetic selection programs of animal breeding. Here we introduce a new automated tracking system based on millimetre-wave radars for real time robust and high precision monitoring of untagged animals. In contrast to conventional video tracking systems, radar tracking requires low processing power, is independent on light variations and has more accurate estimations of animal positions due to a lower misdetection rate. To validate our approach, we monitored the movements of 58 sheep in a standard indoor behavioural test used for assessing social motivation. We derived new estimators from the radar data that can be used to improve the behavioural phenotyping of the sheep. We then showed how radars can be used for movement tracking at larger spatial scales, in the field, by adjusting operating frequency and radiated electromagnetic power. Millimetre-wave radars thus hold considerable promises precision farming through high-throughput recording of the behaviour of untagged animals in different types of environments.

**Keywords:** radar sensors; radar signal processing; animal farming; computational ethology; signal classification; wavelet analysis
