Row to Row Robot Settings
This page covers how Burro positions itself in the rows and the settings you can tune for your crop and implement. To run a route, see the Overview.
Localization
Burro chooses its positioning source automatically along a route:
GPS where the signal is reliable.
LiDAR row centering where GPS is weak or drops out — Burro detects the crop trunks and foliage on each side and drives the row-corridor centerline (or an offset for multi-pass).
LiDAR row centering relies on crop rows having the same type of crop throughout. It performs best when the trunks of the crop are visible. Bushy rows can lead to Burro swerving in row
LiDAR row end detection — Burro detects the end of each row and turns into the next, without relying on GPS to know where the row stops.
LiDAR row end detection relies on row ends being clearly detectable — long gaps in the crop or swaths of tall foliage can cause incorrect detections and premature or late turns
GPS-only mode for sites where crops are irregular or rows curve.
LiDAR row centering does not support curved rows and is validated only in the crops listed under Where It Works. Outside those, confirm behavior with Burro first.
Setting Row Localization Settings
Obstacle handling in rows
Perception is tuned for row work, so Burro doesn't stop constantly for the crop itself. It classifies and filters the vegetation along the row and reacts to genuine obstacles in the driving path.
Foliage can crowd the path from two directions — hanging down from a canopy or tunnel overhead, and low in-row growth near the ground. Both can cause slowdowns.
LiDAR + camera — full speed; Burro may slow when foliage crowds the path.
Camera-only — used in dense foliage; speed is limited to about 1.6 m/s.
Tuning for your crop and implement
Profile — set the loadout so Burro better understand the environment its operating in. The Mower/Grass loadout expects grass and low foliage in the corridor instead of treating it as an obstacle. Grape, Citrus, Blueberry, Kiwi and Stone Fruit can also be used. Ensure to power cycle the robot after changing Profile
Select Profile & Power Cycle Ground / Grass height — Set the minimum obstacle height for your field. This tells the robot how tall grass or foliage the robot is driving through is expected to be, such that the robot will ignore obstacle less than this height. Setting the height too high can result in the robot driving over small obstacles like bins, curbs, or ramps.
Set Grass/Ground Height Trailer / implement width — set the width so Burro accounts for it when judging clearance and turns.
Trailer/Implement Width LiDAR + Camera or Camera only — disabling LiDAR obstacle detection limits speed to 1.6m/s, but can result in smoother operation for critical applications like spraying
Reduced Obstacle Sensitivity — reduce camera obstacle detection sensitivity on row routes if Burro stops more than necessary for crop foliage. This setting increases the risk of not detecting thin or small obstacles like posts, wires, small wheelbarrows, etc, and is designed for use only in applications where the robot is autonomously operating away from people.
Enable Reduced Obstacle Sensitivity