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This paper describes a collaborative modelling approach to automated androbotic agricultural vehicle design. The Cresendo technology allows engineersfrom different disciplines to collaborate and produce system models. Thecombined models are called co-models and their execution co-simulation. Tosupport future development efforts a template library of different vehicle andcontrollers types are provided. This paper describes a methodology todeveloping co-models from initial problem definition to deployment of theactual system. We illustrate the development methodology with an exampledevelopment case from the agricultural domain. The case relates to anencountered speed controller problem on a differential driven vehicle, where weiterate through different candidate solutions and end up with an adaptivecontroller solution based on a combination of classical control and learningfeedforward. The second case is an example of combining human control interfaceand co-simulation of agricultural robotic operation to illustrate collaborativedevelopment

Collaborative model based design of automated and robotic agricultural vehicles in the Crescendo Tool