Table 1.

Weeding agrirobotic systems’ characteristics for various crops.

Crop	Perception Sensors	Weed Detection	Weed Control	Results	Cited Work
Maize	Cameras, optical and acoustic distance sensors	Yes	Chemical	No performance metrics provided	[38]
Carrot	RGB infrared camera	Partly	Chemical	100% effectiveness with the DoD system	[22]
Potato, corn	Webcam, solid-state gyroscope	Partly	Chemical	98% and 89% detection accuracy	[36]
Sugar beet	Color camera	Yes	Mechanical	Row detection precision < 25 mm. > 90% in-row weed removal	[24]
N/A	Stereo vision system, laser	No	Mechanical	Precision < 3 cm.	[27,29]
Rice	Laser range finder, IMU	No	Mechanical	Precision < 62 mm	[25]
Beetroot	Color camera, artificial vision, compass	Yes	Chemical	> 85% detection & destroy, precision < 2 cm	[37]
Grapes	IMU, hall sensors, electromechanical sensor, a sonar sensor	No	Mechanical	Average performance: 65% (feeler) & 82% (sonar)	[30]
N/A	Accelerometer, gyroscope, flex sensor	No	Mechanical	No performance metrics provided	[31]
Tomato	Color camera, SensorWatch	Partly	Chemical	24.2% were incorrectly identified and sprayed and 52.4% of the weeds were not sprayed.	[42]