Actuation and Mobility Layer
An autonomous wheeled platform navigates greenhouse rows while maintaining arm reach. A 4-DOF robotic arm performs dual intervention with interchangeable end-effectors: gripper for harvesting and nozzle for spraying.
Edge-Intelligence Layer
A Raspberry Pi 5 runs containerized YOLO inference for ripeness and foliar disease detection. The perception module provides coordinate outputs for targeted actuation and novelty alerts.
Resilient Networking Layer
ESP32 LoRa mesh nodes collect environmental data and deliver it to the edge gateway. The SDN control plane (ONOS + OVS) enforces adaptive QoS, while VPN-based failover ensures continuity during primary link instability.
Cross-Layer Data and Control Flow
The architecture follows a strict scan-detect-act-feedback sequence: sensing data and images enter the edge-intelligence layer, detections are converted into actuation coordinates, and SDN policies prioritize command packets so robotic actions complete even during network stress.