{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,14]],"date-time":"2026-01-14T17:08:42Z","timestamp":1768410522311,"version":"3.49.0"},"reference-count":52,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2022,4,12]],"date-time":"2022-04-12T00:00:00Z","timestamp":1649721600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"European Regional Development Fund-The Competitiveness 748 and Cohesion Operational Programme","award":["KK.01.1.1.04.0041"],"award-info":[{"award-number":["KK.01.1.1.04.0041"]}]},{"DOI":"10.13039\/501100008530","name":"European Regional Development Fund","doi-asserted-by":"publisher","award":["KK.01.1.1. 749 07.0069"],"award-info":[{"award-number":["KK.01.1.1. 749 07.0069"]}],"id":[{"id":"10.13039\/501100008530","id-type":"DOI","asserted-by":"publisher"}]},{"name":"European Regional Development Fund through the Interreg Italy-Croatia","award":["10248782"],"award-info":[{"award-number":["10248782"]}]},{"DOI":"10.13039\/501100004488","name":"Croatian Science Foundation","doi-asserted-by":"publisher","award":["IP-2016-06-2082"],"award-info":[{"award-number":["IP-2016-06-2082"]}],"id":[{"id":"10.13039\/501100004488","id-type":"DOI","asserted-by":"publisher"}]},{"name":"European Union from the European Regional Development 754 Fund within the Operational Program &quot;Competitiveness and Cohesion 2014-2020&quot;","award":["KK.01.2.1.02.0342"],"award-info":[{"award-number":["KK.01.2.1.02.0342"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>There are activities in viticulture and mariculture that require extreme physical endurance from human workers, making them prime candidates for automation and robotization. This paper presents a novel, practical, heterogeneous, autonomous robotic system divided into two main parts, each dealing with respective scenarios in viticulture and mariculture. The robotic components and the subsystems that enable collaboration were developed as part of the ongoing HEKTOR project, and each specific scenario is presented. In viticulture, this includes vineyard surveillance, spraying and suckering with an all-terrain mobile manipulator (ATMM) and a lightweight autonomous aerial robot (LAAR) that can be used in very steep vineyards where other mechanization fails. In mariculture, scenarios include coordinated aerial and subsurface monitoring of fish net pens using the LAAR, an autonomous surface vehicle (ASV), and a remotely operated underwater vehicle (ROV). All robotic components communicate and coordinate their actions through the Robot Operating System (ROS). Field tests demonstrate the great capabilities of the HEKTOR system for the fully autonomous execution of very strenuous and hazardous work in viticulture and mariculture, while meeting the necessary conditions for the required quality and quantity of the work performed.<\/jats:p>","DOI":"10.3390\/s22082961","type":"journal-article","created":{"date-parts":[[2022,4,12]],"date-time":"2022-04-12T22:48:45Z","timestamp":1649803725000},"page":"2961","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":16,"title":["Heterogeneous Autonomous Robotic System in Viticulture and Mariculture: Vehicles Development and Systems Integration"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1167-2000","authenticated-orcid":false,"given":"Nadir","family":"Kapetanovi\u0107","sequence":"first","affiliation":[{"name":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"}]},{"given":"Jurica","family":"Gori\u010danec","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-4215-5460","authenticated-orcid":false,"given":"Ivo","family":"Vatavuk","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5187-466X","authenticated-orcid":false,"given":"Ivan","family":"Hrabar","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"}]},{"given":"Dario","family":"Stuhne","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"}]},{"given":"Goran","family":"Vasiljevi\u0107","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3987-4576","authenticated-orcid":false,"given":"Zdenko","family":"Kova\u010di\u0107","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1474-4126","authenticated-orcid":false,"given":"Nikola","family":"Mi\u0161kovi\u0107","sequence":"additional","affiliation":[{"name":"Faculty of Electrical Engineering and Computing, University of Zagreb, Unska 3, 10000 Zagreb, Croatia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5360-1542","authenticated-orcid":false,"given":"Nenad","family":"Antolovi\u0107","sequence":"additional","affiliation":[{"name":"Institute for Marine and Coastal Research, University of Dubrovnik, Kneza Damjana Jude 12, 20000 Dubrovnik, Croatia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6431-0161","authenticated-orcid":false,"given":"Marina","family":"Ani\u0107","sequence":"additional","affiliation":[{"name":"Faculty of Agriculture, University of Zagreb, Sveto\u0161imunska cesta 25, 10000 Zagreb, Croatia"}]},{"given":"Bernard","family":"Kozina","sequence":"additional","affiliation":[{"name":"Faculty of Agriculture, University of Zagreb, Sveto\u0161imunska cesta 25, 10000 Zagreb, Croatia"}]}],"member":"1968","published-online":{"date-parts":[[2022,4,12]]},"reference":[{"key":"ref_1","unstructured":"Fussel, G.E., Nair, K., Rasmussen, W.D., Ordish, G., Crawford, G.W., Gray, A.W., and Mellanby, K. 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