To achieve the goals presented the above list, the Flourish project is split up into 10 work packages (WP). The achievement on each WP until the period covered by the report is as follows.
WP1 : This work package targets the use-case specific challenges for the project and all tasks within this work package are completed.
WP2 : In this work package, the software components such as UAV localization module of the UAV perception system were defined and developed. This data will allow mission planning before the unmanned ground vehicle (UGV) actually goes in the field, enabling UGV intervention at the optimal time and location for weed elimination or fertilizer application.
WP3 : This work package concerns the development of the mission planning algorithms which define the optimized survey path taking into consideration field coverage, scientifically defined areas of interest and battery constraints while detecting and avoiding any obstacles in its path. Outdoor field tests and evaluation are progressing.
WP4 : This work package addresses the field-related perception challenges of the UGV. The first focus here is to distinguish the crop from the weed and thus enable field intervention in WP6. The second objective is the environment modeling on the field, i.e. building a map that will
support the navigation in WP5.
WP5 : This work package considers the navigation system for the UGV, which is essential for autonomous operation. The key tasks are to localize the UGV in an environment model, to analyze the terrain and classify traversable and non-traversable areas around the UGV.
WP6 : This work package focuses on the implementation of the ground intervention to either mechanically destroy the weeds or precisely spray the required compounds to the plants or weeds.
WP7 : This work package converts the field of cooperative UAV and UGV environment models to create consistent models for both, any robot as well as the human. The first prototype of user interface is available and take-off and landing task is in progress.
WP8 : This work package concerns the integration and testing of the individual modules developed at the partners’s sites. Project-wide development repository setup, integration plan are complete and integration and test weeks, system integration, and evaluation are in progress.
WP9 : This work package addresses “Innovation Related Activities” in the Flourish project as an own work package covering dissemination activities, exploitation plan, and management of knowledge. All tasks are ongoing until the end of the Flourish project.
WP10 : This work package is related to project management by project coordinator, project vice coordinator, and administrative project manager. Work package leaders report progress and status to the coordinator and the steering committee.
