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Climate change, increase in world population and the war in Ukraine have lednations such as the UK to put a larger focus on food security, whilesimultaneously trying to halt declines in biodiversity and reduce risks tohuman health posed by chemically-reliant farming practices. Achieving thesegoals simultaneously will require novel approaches and accelerating thedeployment of Agri-Robotics from the lab and into the field. In this paper wedescribe the ARWAC robot platform for mechanical weeding. We explain why themechanical weeding approach is beneficial compared to the use of pesticides forremoving weeds from crop fields. Thereafter, we present the system design andprocessing pipeline for generating a course of action for the robot to follow,such that it removes as many weeds as possible. Finally, we end by proposing atrust-based ladder of autonomy that will be used, based on the users'confidence in the robot system.

A Variable Autonomy approach for an Automated Weeding Platform