Robotic System with AI for Real Time Weed Detection, Canopy Aware Spraying, and Droplet Pattern Evaluation

Inayat Rasool; Pappu Kumar Yadav; Amee Parmar; Hasan Mirzakhaninafchi; Rikesh Budhathoki; Zain Ul Abideen Usmani; Supriya Paudel; Ivan Perez Olivera; Eric Jone

arXiv · 2507.05432

Robotic System with AI for Real Time Weed Detection, Canopy Aware Spraying, and Droplet Pattern Evaluation

Inayat Rasool·Pappu Kumar Yadav·Amee Parmar·Hasan Mirzakhaninafchi·Rikesh Budhathoki·Zain Ul Abideen Usmani·Supriya Paudel·Ivan Perez Olivera·Eric Jone

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Abstract

Uniform and excessive herbicide application in modern agriculture contributes to increased input costs, environmental pollution, and the emergence of herbicide resistant weeds. To address these challenges, we developed a vision guided, AI-driven variable rate sprayer system capable of detecting weed presence, estimating canopy size, and dynamically adjusting nozzle activation in real time. The system integrates lightweight YOLO11n and YOLO11n-seg deep learning models, deployed on an NVIDIA Jetson Orin Nano for onboard inference, and uses an Arduino Uno-based relay interface to control solenoid actuated nozzles based on canopy segmentation results. Indoor trials were conducted using 15 potted Hibiscus rosa sinensis plants of varying canopy sizes to simulate a range of weed patch scenarios. The YOLO11n model achieved a mean average precision (mAP@50) of 0.98, with a precision of 0.99 and a recall close to 1.0. The YOLO11n-seg segmentation model achieved a mAP@50 of 0.48, precision of 0.55, and recall of 0.52. System performance was validated using water sensitive paper, which showed an average spray coverage of 24.22% in zones where canopy was present. An upward trend in mean spray coverage from 16.22% for small canopies to 21.46% and 21.65% for medium and large canopies, respectively, demonstrated the system's capability to adjust spray output based on canopy size in real time. These results highlight the potential of combining real time deep learning with low-cost embedded hardware for selective herbicide application. Future work will focus on expanding the detection capabilities to include three common weed species in South Dakota: water hemp (Amaranthus tuberculatus), kochia (Bassia scoparia), and foxtail (Setaria spp.), followed by further validation in both indoor and field trials within soybean and corn production systems.

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Inayat Rasool, Pappu Kumar Yadav, Amee Parmar, Hasan Mirzakhaninafchi, Rikesh Budhathoki, Zain Ul Abideen Usmani, Supriya Paudel, Ivan Perez Olivera, Eric Jone. 2025-07-07. Robotic System with AI for Real Time Weed Detection, Canopy Aware Spraying, and Droplet Pattern Evaluation. https://arxiv.org/abs/2507.05432

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