New Trends in Robotics for Agriculture: Integration and Assessment of a Real Fleet of Robots

Table 3

Comparative timing results between the RHEA original schema and the proposed architecture regarding the Weed Detection System.

(a)

Time required	Image Acquisition	Fps acquired	Image Processing	Fps processed	Image Sharing	Other process running
Original structure	75–150 ms	5	150–250 ms	4	150–200 ms	0
Proposed structure	80–160 ms	5	200–250 ms	4	1 ms	4; (See Table 3(b) for process description)

(b)

Other process running	Scheduled periods
Path following supervising routine	100 ms
Steering and throttle control routine	10 ms
Telemetry routine	100 ms
Localization routine	100 ms