Row Mission Generation

BOSS Web is where your mapped points become runnable row routes. Import your points, define the crop rows, then generate and publish coverage.

Import your points

1. Select + at the bottom of the left pane, then Upload GeoJSON (or drag and drop the file onto the site). You can also create points directly in BOSS Web.

2. Check the imported points: delete any duplicates, and confirm no points are missing.

Generate crop row lines & row area

Select the points for a block

• Shift + click and drag to highlight a block's points. You can select in multiple batches.

  • Ctrl + click to rotate the selection.

  • Hiding other elements with the filter menu can make selecting points much easier

A valid block has an even number of points — a pair per row.

Create crop lines and row area

With the points selected, click the …in the right-hand menu and choose Build row area. This generates crop lines (green), row corridor center lines (blue), and a row area shape around them.

For multi-pass work, set the crop width:

• Select the Row Area shape, then click the …in the right-hand menu and choose Tools > Select Crop Lines

• Set the row area's default crop width to the physical width of the crop in the row.

• For blocks with varied crop widths, shift-click each group of crop lines and set the width per row.

Draw a reference line

If building a row area from your blocks' points fails, you can try drawing a single reference crop line to provide context to the generator about crop direction. This step is not always necessary and should be used if the row area tool can’t produce reliable crop lines and row corridor center lines on its own.

1. Shift + click to select two paired points in your block, click the … in the right-hand menu and select Convert to Crop Line.

   • This should create a crop line between the two points that you had selected.

2. Shift + click and drag to select the remaining points and the newly created crop line, click the … in the right-hand menu and select Build Row Area.

   • Note that after generating the reference crop line the points you used to create it will become hidden. They do not need to be selected to build the row area, only the single reference crop line and the remaining points in that block should be selected.

Fill the rows (Crop Fill)

1. Select the row area.

2. Open Crop Fill and set:

   • Turn Radius - the turn radius the tool will use to connect rows. Towing trailers may require larger turn radiuses.

   • Row Extend - how far out of the row the robot will drive straight before turning. This can be helpful if towing an implement or for approaching tight rows

   • Skip - the number of paths the robot will skip when turning into the next row to allow for less tight turns

   • Coverage - Single pass, or Multi-pass.
     Single pass will create one path per row corridor, where the path is centered in the middle of the traversable space - this is useful for spraying applications. Multi-pass will create multiple passes in each row, as needed, to cover all the area in a row - this is useful for mowing applications.

     • Coverage width - The implements coverage width

     • Crop clearance - added buffer between the crop row and the implement for the closest pass to the crop

     • Pass overlap - the minimum amount of overlap between multiple passes in a row corridor

   • Implement active in headlands - if the implement should turn off at the end of the rows when turning into the next row, or if it should remain on & active

   • Advanced -

3. Generate, then visually inspect the route and tune variables (row skip, extend).

   • Before clicking done, you can edit values & regenerate the route

   warning:

   Pay close attention to turns that may interfere with obstacles or headland boundaries.

4. Click Done to add the route to the map, then Save.

5. Check “Start & End Point” in the right menu, then Save

Adjust and publish

• Disable a row — select the row's center line (blue) to disable it. You'll need to regenerate the fill afterward.

• Organize your routes in the sidebar.

• Connect the route to the network to enable the robot to reach the start point.