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The objective of our work was to develop a robot that can navigate a pasture, detect broad\u2010leaved dock, and remove any weeds found. A prototype robot was constructed that navigates by following a predefined path using centimeter\u2010precision global positioning system (GPS). Broad\u2010leaved dock is detected using a camera and image processing. Once detected, weeds are destroyed by a cutting device. Tests of aspects of the system showed that path following accuracy is adequate but could be improved through tuning of the controller or adoption of a dynamic vehicle model, that the success rate of weed detection is highest when the grass is short and when the broad\u2010leaved dock plants are in rosette form, and that 75% of weeds removed did not grow back. An on\u2010farm field test of the complete system resulted in detection of 124 weeds of 134 encountered (93%), while a weed removal action was performed eight times without a weed being present. Effective weed control is considered to be achieved when the center of the weeder is positioned within 0.1 m of the taproot of the weed\u2014this occurred in 73% of the cases. We conclude that the robot is an effective instrument to detect and control broad\u2010leaved dock under the conditions encountered on a commercial farm. \u00a9 2010 Wiley Periodicals, Inc.<\/jats:p>","DOI":"10.1002\/rob.20377","type":"journal-article","created":{"date-parts":[[2010,10,26]],"date-time":"2010-10-26T14:39:34Z","timestamp":1288103974000},"page":"264-277","source":"Crossref","is-referenced-by-count":65,"title":["A robot to detect and control broad\u2010leaved dock (<i>Rumex obtusifolius<\/i> L.) in grassland"],"prefix":"10.1002","volume":"28","author":[{"given":"Frits K.","family":"van Evert","sequence":"first","affiliation":[]},{"given":"Joost","family":"Samsom","sequence":"additional","affiliation":[]},{"given":"Gerrit","family":"Polder","sequence":"additional","affiliation":[]},{"given":"Marcel","family":"Vijn","sequence":"additional","affiliation":[]},{"given":"Hendrik\u2010Jan van","family":"Dooren","sequence":"additional","affiliation":[]},{"given":"Arjan","family":"Lamaker","sequence":"additional","affiliation":[]},{"given":"Gerie W.A.M.","family":"van der Heijden","sequence":"additional","affiliation":[]},{"given":"Corn\u00e9","family":"Kempenaar","sequence":"additional","affiliation":[]},{"given":"Ton","family":"van der Zalm","sequence":"additional","affiliation":[]},{"given":"Lambertus A.P.","family":"Lotz","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2010,10,26]]},"reference":[{"issue":"1250","key":"e_1_2_7_2_1","first-page":"89","article-title":"A mobile robot for mechanical weed control","volume":"105","author":"\u00c5strand B.","year":"2003","journal-title":"International Sugar Journal"},{"key":"e_1_2_7_3_1","unstructured":"Bakker T. Van Asselt C. J. Bontsema J. M\u00fcller J. &Van Straten G.(2006 September).Autonomous navigation with a weeding robot. Proceedings of the Automation Technology for Off\u2010Road Equipment Conference 2006 Bonn Germany(pp.51\u201357)."},{"key":"e_1_2_7_4_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compag.2007.07.006"},{"key":"e_1_2_7_5_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_47"},{"key":"e_1_2_7_6_1","first-page":"621","volume-title":"Precision Agriculture '05","author":"Blackmore B. S.","year":"2005"},{"key":"e_1_2_7_7_1","unstructured":"Bleeker P. Van der Schans D. A. &Van der Weide R. Y.(2007 March).New ways of sowing or planting onions for innovative intrarow weeders Proceedings 2007 7th EWRS Workshop on Physical Weed Control Salem Germany(pp.103\u2013104)."},{"key":"e_1_2_7_8_1","unstructured":"B\u00f6hm H. &Finze J.(2004).\u00dcberpr\u00fcfung der Effektivit\u00e4t der maschinellen Ampferregulierung im Gr\u00fcnland mittels WUZI unter differenzierten Standortbedingungen. [Testing the effectiveness of mechanical control of docks in grassland with the WUZI under a variety of conditions.]Available online athttp:\/\/orgprints.org\/4165\/01\/B%C3%B6hm\u2010B%C3%96L\u2010Pflschutz\u20102004.pdf.Verified15 April 2008."},{"key":"e_1_2_7_9_1","first-page":"39","volume-title":"Ressortforschung f\u00fcr den \u00d6kologischen Landbau","author":"B\u00f6hm H.","year":"2004"},{"key":"e_1_2_7_10_1","unstructured":"Bond W. Davies G. &Turner R. W.(2007).The biology and non\u2010chemical control of broad\u2010leaved dock (Rumex obtusifoliusL.) and curled dock (R. crispusL.). Available online athttp:\/\/organicgardening.org.uk\/organicweeds\/downloads\/dock%20review.pdf.Verified23 September 2008. Retrieved September 22 2008."},{"key":"e_1_2_7_11_1","unstructured":"Bonicelli B. &Monod M. O.(1987).A self\u2010propelled plowing robot. ASAE Paper No. 87\u20101064. St. Joseph MI: ASAE. Available athttp:\/\/agris.fao.org\/agris\u2010search\/search\/display.do?f=1989\/US\/US89135.xml;US8853760."},{"key":"e_1_2_7_12_1","doi-asserted-by":"publisher","DOI":"10.2307\/2257859"},{"key":"e_1_2_7_13_1","first-page":"388","article-title":"The role and importance of docks in grassland","volume":"59","author":"Courtney A. D.","year":"1985","journal-title":"Agriculture in Northern Ireland"},{"key":"e_1_2_7_14_1","unstructured":"D\u00fcrr L. Anken T. Bollhalder H. Sauter J. Burri K.\u2010G. &Kuhn D.(2004).Machine vision detection and microwave based elimination ofRumex obtusifoliusL. on grassland. Available online athttp:\/\/www.aramis.admin.ch\/Dokument.aspx?DocumentID=629. 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Paper presented at the 6th Biennial Conference of the European Federation of IT in Agriculture (EFITA) Glasgow UK. Available online athttp:\/\/edepot.wur.nl\/28203. Accessed October 12 2010."},{"key":"e_1_2_7_31_1","doi-asserted-by":"publisher","DOI":"10.1016\/S0168-1699(99)00061-7"},{"key":"e_1_2_7_32_1","unstructured":"Rombouts N. J. L. &Rombouts P. K. M.(2002).Netherlands Patent No. 1017794."},{"key":"e_1_2_7_33_1","doi-asserted-by":"publisher","DOI":"10.1016\/S1573-5214(03)80021-0"},{"key":"e_1_2_7_34_1","unstructured":"\u0160eatovi\u0107 D.(2008 June).3D object recognition localization and treatment ofRumex obtusifoliusin its natural environment. Paper presented at the Proceedings of the 1st International Conference on Machine Control & Guidance Zurich Switzerland. Available online athttp:\/\/www.mcg.ethz.ch\/papres\/Seatovic_17.pdf. 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