Weber, BettinaChande, SahilMaike, SimonVerbunt, MaartenLee, Ting ShengBecker, RolfFranko, Josef2024-04-082024-04-082024978-3-88579-738-82944-7682https://dl.gi.de/handle/20.500.12116/43917Current robotic approaches in smart farming are often limited to a specific task such as weeding or harvesting. Contrary to this, the AgriPV-Bot aims at sustainable and efficient micro spot full vegetable farming by focusing on mixed vegetable cultivation through automated horticultural processes. Such a holistic approach requires sophisticated robotic process control. This paper presents the development of the underlying state machine built in ROS SMACH to handle a variety of tasks within the system. All processes and interactions of sensors and actuators are first simulated on the digital twin software Gazebo before being deployed in the real environment. This allows for rapid iterations of software and reduces dependencies on season and crop availability regarding physical field tests.enmicro spot-farmingprocess control in agriculturefull farming automationstate machinesdigital twinText/Conference Paper10.18420/giljt2024_341617-5468