2.1.1. Main Process Loop in PA Autonomous Robots

The autonomous systems used for precision agriculture generally follow the structure of an automatic control loop that consists of the following (see Figure 2):


In our application, the selecting references are made with the smart navigation manager (mission planner), the measures of the magnitudes of interest are performed with the perception system and the IoT sensor network, the decisions are made with the smart navigation manager (smart operation manager), and the actions are executed with the agricultural tool and the autonomous robot that move the implement throughout the mission field. In addition, our system also takes care of the interaction with the cloud and the operator. In our proposed integration method, these components are grouped into modules, as illustrated in Figures 2 and 3. These modules are as follows.

**Figure 2.** Components of a precision agriculture robotic system and main information flow.

**Figure 3.** Computing architecture.
