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April 18, 2026Computers and Electronics in AgricultureOpen Access

Design, development, and field evaluation of a dual-mode robotic-human system for in situ soil compaction assessment in agricultural fields

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Authors

YGYuvraj Singh GillAFAndrew FraserHAHassan Afzaal

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Overview

Field evaluation demonstrates robotic penetrometer reliably maps soil compaction in agricultural settings, suggesting improved management practices.

Key Points

  • This research aims to develop and evaluate a robotic penetrometer system for accurate soil compaction mapping in agricultural fields.
  • Developed a high-throughput robotic penetrometer for in-field assessments.
  • Conducted measurements alongside conventional methods using a FieldScout SC900.
  • Analyzed penetration-resistance profiles at various depths in sandy-loam potato and alfalfa fields over two years.
  • Used electrical-conductivity zones for targeted data collection.
  • Achieved significant agreement (R 2 ≈0.97) between the robotic system and the FieldScout for depth-mean profiles.
  • Observed localized hotspots of compaction in 2024 and extensive high-resistance zones in 2025.
  • Demonstrated the robotic tool's capability for deeper penetration and higher spatial resolution compared to handheld devices.

Cite This Study

Gill et al. (2026) studied this question.

synapsesocial.com/papers/69e3201440886becb653f227https://doi.org/10.1016/j.compag.2026.111767
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