Movebase 2D navigation in a vineyard: first simulation results

	Transform the vine rows into virtual walls in order to have only one big obstacle for each row, which imposes to the global planner to find a trajectory that goes around the whole row. This solution is not optimal, but it represents a big simplification.
	A second solution is to enlarge the footprint of the robot (space occupied by the robot in the global and local planner representation).
	It is enough to enlarge the footprint by 10cm to have a robot that also in the representation of the planners cannot pass between two adjacent vines (pass through a row).

Field tests

	The first field test with the Husky robot and the sensory system for navigation and vineyard reconstruction.
	The second field test with the Husky robot and the sensory system for navigation and vineyard reconstruction.

Vineyard mapping and reconstruction

	An example of 2D mapping of a vineyard.
	3D acquisition of a point cloud and reconstruction of vineyard branches.
	Using a LIDAR in pushbroom configuration for vineyard mapping.
	Vineyard mapping using velodyne point cloud.
	An example of vineyard mapping using Gmapping as SLAM node and ROAMFREE as odometry estimator applied to a real dataset taken at Mas Llunes.
	An example of vineyard mapping using Google’s Cartographer as SLAM node and ROAMFREE as odometry estimator applied to a real dataset taken at Mas Llunes.
	A comparison among odometry filters in a simulated environment with a ground truth robot map position.
	Autonomous navigation in a simulated environment using ROAMFREE as odometry estimator and AMCL as localizer.

Dispenser deploying

	First designed dispenser feeder, first experiment.
	First designed dispenser feeder, second experiment.
	First designed dispenser feeder, third experiment.
	An example of dispenser deployment using position control only.

Vineyard navigation at Mas Llunes

An example of autonomous navigation at Mas Llunes using AMCL as localizer and ROAMFREE as odometry estimator.

The final demonstration at Mas Llunes

The final demonstration at Mas Llunes and final video of the project.