Adaptive Robot Control Based on Wireless Underground Sensor Network in Agriculture 4.0

International audience; From sensor nodes fully buried at a few dozens of centimeters deep in Wireless Underground Sensor Networks (WUSN), the soil moisture information can be measured anywhere, including in the passage of vehicles. This opens new opportunities, in particular in Agriculture 4.0, to adapt the speed and work of agricultural mobile robots to the ground conditions. By integrating a collector node in a robot, connected to its CAN bus, this paper experimentally demonstrates the possibility to adapt in real time the speed of the robot with respect to the soil moisture information transmitted in LoRa by a buried sensor node. The hardware and software developements are presented, and the first experimental results discussed. Future research directions are given to extend the capabilities of the system proposed. The innovative approach presented in thispaper enables to envision new possibilities in the combination of WUSN and robotics technologies.