{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,4]],"date-time":"2026-06-04T06:44:15Z","timestamp":1780555455391,"version":"3.54.1"},"reference-count":46,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2021,5,20]],"date-time":"2021-05-20T00:00:00Z","timestamp":1621468800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,5,20]],"date-time":"2021-05-20T00:00:00Z","timestamp":1621468800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100004263","name":"Funda\u00e7\u00e3o de Amparo \u00e0 Pesquisa do Estado do Rio Grande do Sul","doi-asserted-by":"publisher","award":["Project 17\/2551-0000896-0"],"award-info":[{"award-number":["Project 17\/2551-0000896-0"]}],"id":[{"id":"10.13039\/501100004263","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003593","name":"Conselho Nacional de Desenvolvimento Cient\u00edfico e Tecnol\u00f3gico","doi-asserted-by":"publisher","award":["313521\/2019-0"],"award-info":[{"award-number":["313521\/2019-0"]}],"id":[{"id":"10.13039\/501100003593","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["J Intell Robot Syst"],"published-print":{"date-parts":[[2021,6]]},"DOI":"10.1007\/s10846-021-01361-x","type":"journal-article","created":{"date-parts":[[2021,5,20]],"date-time":"2021-05-20T13:02:45Z","timestamp":1621515765000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":30,"title":["Autonomous Agricultural Sprayer using Machine Vision and Nozzle Control"],"prefix":"10.1007","volume":"102","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5398-8679","authenticated-orcid":false,"given":"F\u00e1bio P.","family":"Terra","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2379-7553","authenticated-orcid":false,"given":"Gustavo H. do","family":"Nascimento","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4005-6610","authenticated-orcid":false,"given":"Gabrielle A.","family":"Duarte","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7519-0502","authenticated-orcid":false,"given":"Paulo L. J.","family":"Drews-Jr","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"297","published-online":{"date-parts":[[2021,5,20]]},"reference":[{"issue":"5620","key":"1361_CR1","doi-asserted-by":"publisher","first-page":"758","DOI":"10.1126\/science.1078710","volume":"300","author":"RE Evenson","year":"2003","unstructured":"Evenson, R.E., Gollin, D.: Assessing the impact of the green revolution, 1960 to 2000. Science 300(5620), 758\u2013762 (2003)","journal-title":"Science"},{"issue":"15","key":"1361_CR2","doi-asserted-by":"publisher","first-page":"4151","DOI":"10.1021\/jf0256438","volume":"50","author":"WB Wheeler","year":"2002","unstructured":"Wheeler, W.B.: Role of research and regulation in 50 years of pest management in agriculture. J. Agric. Food Chem. 50(15), 4151\u20134155 (2002)","journal-title":"J. Agric. Food Chem."},{"key":"1361_CR3","unstructured":"EEA: Pesticide sales - european environment agency. https:\/\/www.eea.europa.eu\/airs\/2018\/environment-and-health\/pesticides-sales (2019)"},{"issue":"11","key":"1361_CR4","doi-asserted-by":"publisher","first-page":"3931","DOI":"10.1111\/gcb.13026","volume":"21","author":"JA Ewald","year":"2015","unstructured":"Ewald, J.A., Wheatley, C.J., Aebischer, N.J., Moreby, S.J., Duffield, S.J., Crick, H.Q.P., Morecroft, M.B.: Influences of extreme weather, climate and pesticide use on invertebrates in cereal fields over 42 years. Glob. Chang. Biol. 21(11), 3931\u20133950 (2015)","journal-title":"Glob. Chang. Biol."},{"issue":"10","key":"1361_CR5","doi-asserted-by":"publisher","first-page":"e0185809","DOI":"10.1371\/journal.pone.0185809","volume":"12","author":"CA Hallmann","year":"2017","unstructured":"Hallmann, C.A., Sorg, M., Jongejans, E., Siepel, H., Hofland, N., Schwan, H., Stenmans, W., M\u00fcller, A, Sumser, H., H\u00f6rren, T, et al.: More than 75 percent decline over 27 years in total flying insect biomass in protected areas. PloS one 12(10), e0185809 (2017)","journal-title":"PloS one"},{"key":"1361_CR6","doi-asserted-by":"crossref","unstructured":"Bergerman, M., Singh, S., Hamner, B.: Results with autonomous vehicles operating in specialty crops. In: 2012 IEEE International conference on robotics and automation, pp. 1829\u20131835 (2012)","DOI":"10.1109\/ICRA.2012.6225150"},{"key":"1361_CR7","doi-asserted-by":"crossref","unstructured":"Freitas, G., Hamner, B., Bergerman, M., Singh, S.: A practical obstacle detection system for autonomous orchard vehicles. In: 2012 IEEE\/RSJ International conference on intelligent robots and systems, pp. 3391\u20133398 (2012)","DOI":"10.1109\/IROS.2012.6385638"},{"key":"1361_CR8","unstructured":"Moorehead, S.J., Wellington, C.K., Gilmore, B.J., Vallespi, C.: Automating orchards: A system of autonomous tractors for orchard maintenance. In: Proceedings of the IEEE international conference of intelligent robots and systems, workshop on agricultural robotics (2012)"},{"key":"1361_CR9","doi-asserted-by":"publisher","first-page":"90","DOI":"10.1016\/j.biosystemseng.2016.02.009","volume":"147","author":"P Thanpattranon","year":"2016","unstructured":"Thanpattranon, P., Ahamed, T., Takigawa, T.: Navigation of autonomous tractor for orchards and plantations using a laser range finder: Automatic control of trailer position with tractor. Biosyst. Eng. 147, 90\u2013103 (2016)","journal-title":"Biosyst. Eng."},{"key":"1361_CR10","doi-asserted-by":"crossref","unstructured":"Fu, W., Wu, G., Cong, Y., Li, Y., Meng, Z.: Development of tractor automatic steering system with manual priority function. In: 2015 IEEE International conference on Cyber technology in automation, control, and intelligent systems (CYBER), pp. 555\u2013559 (2015)","DOI":"10.1109\/CYBER.2015.7288000"},{"key":"1361_CR11","doi-asserted-by":"crossref","unstructured":"Wang, H., Noguchi, N.: Autonomous maneuvers of a robotic tractor for farming. In: 2016 IEEE\/SICE International symposium on system integration (SII), pp. 592\u2013597 (2016)","DOI":"10.1109\/SII.2016.7844063"},{"key":"1361_CR12","unstructured":"Bautista, A.J., Wane, S.O., Nario, F., Torres, J.L., Danao, T.E.: Development of an autonomous hand tractor platform for philippine agricultural operations. In: 2018 18th International conference on control, automation and systems (ICCAS), pp. 130\u2013134 (2018)"},{"key":"1361_CR13","doi-asserted-by":"crossref","unstructured":"Lee, M.F.R., Nugroho, A, Purbowaskito, W., Bastida, S.N., Bahrudin: Path following for autonomous tractor under various soil conditions and unstable lateral dynamic. In: 2020 International conference on advanced robotics and intelligent systems (ARIS), pp. 1\u20136 (2020)","DOI":"10.1109\/ARIS50834.2020.9205792"},{"key":"1361_CR14","doi-asserted-by":"crossref","unstructured":"Speight, J.G.: Chapter 4\u2014sources and types of organic pollutants. Environmental organic chemistry for engineers; Speight, JG, Ed.; Butterworth-Heinemann: Oxford, UK, pp. 153\u2013201 (2017)","DOI":"10.1016\/B978-0-12-804492-6.00004-6"},{"issue":"1","key":"1361_CR15","doi-asserted-by":"publisher","first-page":"50","DOI":"10.1186\/1476-069X-7-50","volume":"7","author":"M Bj\u00f8rling-Poulsen","year":"2008","unstructured":"Bj\u00f8rling-Poulsen, M., Andersen, H.R., Grandjean, P.: Potential developmental neurotoxicity of pesticides used in europe. Environ. Health 7(1), 50 (2008)","journal-title":"Environ. Health"},{"key":"1361_CR16","unstructured":"US EPA: Pesticides industry sales and usage: 2008\u20132012 market estimates. https:\/\/www.epa.gov\/sites\/production\/files\/2017-01\/documents\/pesticides-industry-sales-usage-2016_0.pdf (2017)"},{"key":"1361_CR17","unstructured":"UN FAOSTAT Agricultural: Food and agriculture organization of the united nations. http:\/\/www.fao.org\/statistics\/en\/ (2018)"},{"key":"1361_CR18","doi-asserted-by":"publisher","first-page":"301","DOI":"10.1002\/ps.1015","volume":"61","author":"MDK Owen","year":"2005","unstructured":"Owen, M.D.K., Zelaya, I.A.: Herbicide-resistant crops and weed resistance to herbicides. Pest Management Science: formerly Pesticide Science 61, 301\u2013311 (2005)","journal-title":"Pest Management Science: formerly Pesticide Science"},{"issue":"3","key":"1361_CR19","doi-asserted-by":"publisher","first-page":"688","DOI":"10.1590\/S0100-40422007000300031","volume":"30","author":"ML Ribeiro","year":"2007","unstructured":"Ribeiro, M.L., Lourencetti, C., Pereira, S.Y., de Marchi, M.R.R.: Contamina\u00e7\u00e3o de \u00e1guas subterr\u00e2neas por pesticidas: avalia\u00e7\u00e3o preliminar. Qu\u00edmica Nova 30(3), 688\u2013694 (2007)","journal-title":"Qu\u00edmica Nova"},{"key":"1361_CR20","unstructured":"Case: Autonomous vehicle. www.caseih.com\/northamerica\/en-us\/innovations (2020)"},{"key":"1361_CR21","unstructured":"Deere, J.: New \u2018driverless\u2019 tractor concept. https:\/\/www.farm-equipment.com\/articles\/17489-john-deere-reveals-new-driverless-tractor-concept (2020)"},{"key":"1361_CR22","unstructured":"Stombaugh, T.S.: Technology to improve sprayer accuracy. Agriculture and Natural Resources Publications, University of Kentucky (2014)"},{"key":"1361_CR23","unstructured":"Raven: Precision ag products and systems. https:\/\/ravenprecision.com\/products (2019)"},{"key":"1361_CR24","unstructured":"Weed-it: Weed-it precision spraying. https:\/\/www.weed-it.com\/ (2019)"},{"key":"1361_CR25","unstructured":"Blue River: See & spray. http:\/\/www.bluerivertechnology.com\/ (2020)"},{"key":"1361_CR26","unstructured":"IBGE: Censo Agropecu\u00e1rio (in portuguese). censos.ibge.gov.br\/agro\/2017 (2018)"},{"key":"1361_CR27","doi-asserted-by":"crossref","unstructured":"Terra, F., da Rosa, G., Drews, P.: Evaluation of the pressure-flow relationship in a boom of an autonomous robotic agricultural sprayer. In: 2019 Latin American Robotics Symposium (LARS), pp. 228\u2013233. IEEE (2019)","DOI":"10.1109\/LARS-SBR-WRE48964.2019.00047"},{"key":"1361_CR28","unstructured":"ISPA: Precision ag definition - international society for precision agriculture. https:\/\/www.ispag.org\/about\/definition (2020)"},{"key":"1361_CR29","doi-asserted-by":"crossref","unstructured":"Lind, K.M., Pedersen, S.M.: Perspectives of precision agriculture in a broader policy context. In: Precision agriculture: Technology and economic perspectives, pp. 251\u2013266. Springer, Switzerland (2017)","DOI":"10.1007\/978-3-319-68715-5_12"},{"key":"1361_CR30","volume-title":"Agricultura de precis\u00e3o: resultados de um novo olhar","year":"2014","unstructured":"Bernardi, A.C.C., Naime, J.M., Resende, A.V., Bassoi, L.H., Inamasu, R.Y. (eds.): Agricultura de precis\u00e3o: resultados de um novo olhar. Embrapa, Brasilia (2014)"},{"key":"1361_CR31","doi-asserted-by":"publisher","DOI":"10.1007\/978-94-007-6760-7","volume-title":"Precision in crop farming: site specific concepts and sensing methods: applications and results","author":"HJ Heege","year":"2013","unstructured":"Heege, H.J.: Precision in crop farming: site specific concepts and sensing methods: applications and results. Springer Science & Business Media, Dordrecht (2013)"},{"key":"1361_CR32","volume-title":"Agricultura de precis\u00e3o (in portuguese)","author":"JP Molin","year":"2015","unstructured":"Molin, J.P., do Amaral, L.R., Cola\u00e7o, A.: Agricultura de precis\u00e3o (in portuguese). Oficina de Textos, S\u00e3o Paulo (2015)"},{"issue":"3","key":"1361_CR33","doi-asserted-by":"publisher","first-page":"285","DOI":"10.13031\/aea.32.10606","volume":"32","author":"KR Felizardo","year":"2016","unstructured":"Felizardo, K.R., Mercaldi, H.V., Cruvinel, P.E., Oliveira, V.A., Steward, B.L.: Modeling and model validation of a chemical injection sprayer system. Appl. Eng. Agric. 32(3), 285 (2016)","journal-title":"Appl. Eng. Agric."},{"issue":"1","key":"1361_CR34","first-page":"6607","volume":"50","author":"HV Mercaldi","year":"2017","unstructured":"Mercaldi, H.V., Pe\u00f1aloza, E.A.G., Mariano, R.A., Oliveira, V.A., Cruvinel, P.E.: Flow and pressure regulation for agricultural sprayers using solenoid valves. International Federation of Automatic Control (IFAC) 50(1), 6607\u20136612 (2017)","journal-title":"International Federation of Automatic Control (IFAC)"},{"key":"1361_CR35","doi-asserted-by":"publisher","first-page":"122","DOI":"10.1016\/j.compag.2013.02.004","volume":"95","author":"A Escol\u00e0","year":"2013","unstructured":"Escol\u00e0, A., Rosell-Polo, J.R., Planas, S., Gil, E., Pomar, J., Camp, F., Llorens, J., Solanelles, F.: Variable rate sprayer. part 1\u2013orchard prototype: Design, implementation and validation. Computers and electronics in agriculture 95, 122\u2013135 (2013)","journal-title":"Computers and electronics in agriculture"},{"key":"1361_CR36","doi-asserted-by":"publisher","first-page":"136","DOI":"10.1016\/j.compag.2013.02.010","volume":"95","author":"E Gil","year":"2013","unstructured":"Gil, E., Llorens, J., Llop, J., F\u00e0bregas, X., Escol\u00e0, A., Rosell-Polo, J.R.: Variable rate sprayer. part 2\u2013vineyard prototype: Design, implementation, and validation. Computers and Electronics in Agricul. 95, 136\u2013150 (2013)","journal-title":"Computers and Electronics in Agricul."},{"key":"1361_CR37","doi-asserted-by":"crossref","unstructured":"Zhang, Z., Wang, X., Lai, Q., Zhang, Z.: Review of variable-rate sprayer applications based on real- time sensor technologies. In: Hussmann, S. (ed.) Automation in agriculture. IntechOpen, Rijeka (2018)","DOI":"10.5772\/intechopen.73622"},{"issue":"4","key":"1361_CR38","doi-asserted-by":"publisher","first-page":"770","DOI":"10.1007\/s11119-017-9557-y","volume":"19","author":"T Esau","year":"2018","unstructured":"Esau, T., Zaman, Q., Groulx, D., Farooque, A., Schumann, A., Chang, Y.: Machine vision smart sprayer for spot-application of agrochemical in wild blueberry fields. Precision agriculture 19(4), 770\u2013788 (2018)","journal-title":"Precision agriculture"},{"issue":"3","key":"1361_CR39","doi-asserted-by":"publisher","first-page":"605","DOI":"10.1007\/s10846-019-01006-0","volume":"97","author":"M Basso","year":"2020","unstructured":"Basso, M., Pignaton de Freitas, E.: A uav guidance system using crop row detection and line follower algorithms. Journal of Intelligent & Robotic Systems (JINT) 97(3), 605\u2013621 (2020)","journal-title":"Journal of Intelligent & Robotic Systems (JINT)"},{"key":"1361_CR40","doi-asserted-by":"crossref","unstructured":"Weber, F., Rosa, G., Terra, F., Oldoni, A., Drews, P.: A low cost system to optimize pesticide application based on mobile technologies and computer vision. In: Latin american robotic symposium (LARS). IEEE (2018)","DOI":"10.1109\/LARS\/SBR\/WRE.2018.00069"},{"key":"1361_CR41","doi-asserted-by":"crossref","unstructured":"do Nascimento, G.H., Weber, F., Almeida, G., Terra, F., Drews, P.L.J.: A perception system for an autonomous pesticide boom sprayer. In: 2019 Latin american robotics symposium (LARS), pp. 86\u201391. IEEE (2019)","DOI":"10.1109\/LARS-SBR-WRE48964.2019.00023"},{"key":"1361_CR42","volume-title":"Modelagem e simula\u00e7\u00e3o de processos industriais e de sistemas eletromec\u00e2nicos (in portuguese)","author":"C Garcia","year":"2005","unstructured":"Garcia, C.: Modelagem e simula\u00e7\u00e3o de processos industriais e de sistemas eletromec\u00e2nicos (in portuguese), 2nd edn. EDUSP, S\u00e3o Paulo (2005)","edition":"2nd edn."},{"key":"1361_CR43","volume-title":"Measurement and control basics","author":"TA Hughes","year":"2002","unstructured":"Hughes, T.A.: Measurement and control basics, 3rd edn. ISA Press, Research Triangle Park (2002)","edition":"3rd edn."},{"key":"1361_CR44","volume-title":"Fundamentos de sistemas hidr\u00e1ulicos (in portuguese)","author":"I von Linsingen","year":"2003","unstructured":"von Linsingen, I.: Fundamentos de sistemas hidr\u00e1ulicos (in portuguese), 2nd edn. Universidade Federal de Santa Catarina, Florian\u00f3polis (2003)","edition":"2nd edn."},{"key":"1361_CR45","doi-asserted-by":"crossref","unstructured":"Terra, F.P., da Rosa, G.R.A., Prado, J.J.P., Drews-Jr, P.L.J.: A low-cost prototype to automate agricultural sprayers (in press). International federation of automatic control, 21st IFAC World congress (2020)","DOI":"10.1016\/j.ifacol.2020.12.365"},{"key":"1361_CR46","unstructured":"Underwood, J.P., Calleija, M., Taylor, Z., Hung, C., Nieto, J., Fitch, R., Sukkarieh, S.: Real-time target detection and steerable spray for vegetable crops. International conference on robotics and automation (ICRA), Workshop on robotics in agriculture (2015)"}],"container-title":["Journal of Intelligent &amp; Robotic Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01361-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10846-021-01361-x\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10846-021-01361-x.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,6,9]],"date-time":"2021-06-09T16:17:48Z","timestamp":1623255468000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10846-021-01361-x"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,5,20]]},"references-count":46,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2021,6]]}},"alternative-id":["1361"],"URL":"https:\/\/doi.org\/10.1007\/s10846-021-01361-x","relation":{},"ISSN":["0921-0296","1573-0409"],"issn-type":[{"value":"0921-0296","type":"print"},{"value":"1573-0409","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,5,20]]},"assertion":[{"value":"15 October 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"1 March 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 May 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors have no conflicts of interest to declare that are relevant to the content of this article.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"<!--Emphasis Type='Bold' removed-->Competing interests"}}],"article-number":"38"}}