Ground Mobile Robots for High-Throughput Plant Phenotyping: Perception, Decision, and Action

Abstract

High-throughput plant phenotyping is increasingly constrained by the mismatch between the demand for field-relevant, fine-grained phenotypic data and the limited capability of conventional observation platforms under complex agricultural conditions. In this context, mobile phenotyping systems, particularly ground robots, are emerging as a key technological pathway for bridging macro-scale monitoring and organ-level trait analysis. This review examines the development of mobile phenotyping platforms for high-throughput plant phenotyping, with emphasis on the evolving role of ground robots in field-based sensing, decision-making, and active interaction. We first compare the functional characteristics of unmanned aerial vehicles and unmanned ground vehicles and discuss their complementarity in multiscale phenotypic data acquisition. We then summarize recent advances in the core technical framework of mobile phenotyping robots, including multimodal perception, localization and mapping, motion planning, deep-learning-based phenotypic analysis, active observation, robotic intervention, and edge deployment. Major challenges are further discussed, particularly those related to environmental generalization, data annotation, standardization, reproducibility, and long-term field reliability. Finally, future directions are outlined from the perspectives of air–ground collaboration, multi-robot systems, foundation models, and embodied intelligence. This review highlights ground robots as a central carrier for advancing mobile phenotyping toward autonomous, fine-grained, and field-deployable systems.

Plant phenotyping relevance

植物フェノタイピング用の移動ロボットプラットフォームと、マルチモーダルセンシング・表現型解析などの技術を中心に扱うレビューであり、対象分野の方法論的レビューに該当する。

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