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Feeding the growing global population requires an annual increase in food production. This requirement suggests an increase in the use of pesticides, which represents an unsustainable chemical load for the environment. To reduce pesticide input and preserve the environment while maintaining the necessary level of food production, the efficiency of relevant processes must be drastically improved. robotic systems for effective weed and pest control aimed at diminishing the use of agricultural chemical inputs, increasing crop quality and improving the health and safety of production operators. To achieve this overall objective, a fleet of heterogeneous ground and aerial robots was developed and equipped with innovative sensors, enhanced endeffectors and improved decision control algorithms to cover a large variety of agricultural situations. This article describes the scientific and technical objectives, challenges and outcomes achieved in three common crops.

Accurate estimation of leaf chlorophyll content (Cab) from remote sensing is of tremendous significance to monitor the physiological status of vegetation or to estimate primary production. Many vegetation indices (VIs) have been developed to retrieve Cab at the canopy level from meter-to decameter-scale reflectance observations. However, most of these VIs may be affected by the possible confounding influence of canopy structure. The objective of this study is to develop methods for Cab estimation using millimeter to centimeter spatial resolution reflectance imagery acquired at the field level. Hyperspectral images were acquired over sugar beet canopies from a ground-based platform in the 400-1000 nm range, concurrently to Cab, green fraction (GF), green area index (GAI) ground measurements. The original image spatial resolution was successively degraded from 1 mm to 35 cm, resulting in eleven sets of hyperspectral images. Vegetation and soil pixels were discriminated, and for each spatial resolution, measured Cab values were related to various VIs computed over four sets of reflectance spectra extracted from the images (soil and vegetation pixels, only vegetation pixels, 50% darkest and brightest vegetation pixels). The selected VIs included some classical VIs from the literature as well as optimal combinations of spectral bands, including simple ratio (), modified

a b s t r a c tThis article presents a method for crop row structure characterization that is adapted to phenotypingrelated issues. In the proposed method, a crop row 3D model is built and serves as a basis for retrieving plant structural parameters. This model is computed using Structure from Motion with RGB images acquired by translating a single camera along the row. Then, to estimate plant height and leaf area, plant and background are discriminated by a robust method that uses both color and height information in order to handle low-contrasted regions. The 3D model is scaled and the plant surface is finally approximated using a triangular mesh.The efficacy of our method was assessed with two data sets collected under outdoor conditions. We also evaluated its robustness against various plant structures, sensors, acquisition techniques and lighting conditions. The crop row 3D models were accurate and led to satisfactory height estimation results, since both the average error and reference measurement error were similar. Strong correlations and low errors were also obtained for leaf area estimation. Thanks to its ease of use, estimation accuracy and robustness under outdoor conditions, our method provides an operational tool for phenotyping applications.

International audienceThe increasing availability of Very High Spatial Resolution images enables accurate digital maps production as an aid for management in the agricultural domain. In this study we develop a comprehensive and automatic tool for vineyard detection, delineation and characterizationusing aerial images and without any parcel plan availability. In France, vineyard training methods in rows or grids generate periodic patterns which make frequency analysis a suitable approach. The proposed method computes a Fast Fourier Transform on an aerial image, providing the delineation of vineyards and the accurate evaluation of row orientation and interrow width. These characteristics are then used to extract individual vine rows, with the aim of detecting missing vine plants and characterizing cultural practices. Using the red channel of an aerial image, 90\% of the parcels have been detected; 92\% have been correctly classified according to their rate of missing vine plants and 81\% according to their cultural practice (weed control method). The automatic process developed can be easily integrated into the final user's Geographical Information System and produces useful information for vineyard managemen