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[Submitted on 9 Sep 2026] Title:Context-Aware Adaptive Pesticide Spraying for Agricultural Robots under Changing Weather and Terrain Using Vision-Language Models View a PDF of the paper titled Context-Aware Adaptive Pesticide Spraying for Agricultural Robots under Changing Weather and Terrain Using Vision-Language Models, by Cong-Thanh Vu and Yen-Chen Liu View PDF HTML (experimental) Abstract:Precision pesticide spraying is essential for optimizing application efficiency and ensuring uniform chemical distribution. Spraying performance is influenced by multiple factors, including environmental conditions such as temperature and wind speed, pesticide type, and the robot's capability to accurately perceive crops and target spray locations. Existing approaches predominantly emphasize crop detection and rely on predefined spraying parameters, whereas human operators dynamically adjust their spraying strategies by considering environmental conditions, region-specific crop characteristics, and the type of pesticide being applied. In this study, we propose a context-aware adaptive spraying framework based on Vision-Language Models (VLMs), which enables robots to leverage spatial reasoning and integrate information from multiple sources, including crop type, pesticide type, and weather data, to make adaptive and optimized spraying decisions. Subsequently, a trajectory-tracking controller based on Model Predictive Path Integral (MPPI) control is employed to ensure precise navigation and accurate spraying at crop locations. The comparative results demonstrate that the proposed method improves accuracy by at least 30% in detecting crop rows. In addition, the experimental evaluations conducted in two environments further demonstrate the robot's ability to flexibly adjust spraying volume and travel speed, while reducing pesticide drift. Comments: Accepted for publication in Computers and Electronics in Agriculture Subjects: Robotics (cs.RO); Systems and Control (eess.SY) Cite as: arXiv:2610.08807 [cs.RO] (or arXiv:2610.08807v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2610.08807 arXiv-issued DOI via DataCite Journal reference: Computers and Electronics in Agriculture, Volume 252 (2026) 112092 Related DOI: https://doi.org/10.1016/j.compag.2026.112092 DOI(s) linking to related resources Submission history From: Cong-Thanh Vu [view email] [v1] Wed, 9 Sep 2026 16:05:37 UTC (14,721 KB) Full-text links: Access Paper: View a PDF of the paper titled Context-Aware Adaptive Pesticide Spraying for Agricultural Robots under Changing Weather and Terrain Using Vision-Language Models, by Cong-Thanh Vu and Yen-Chen Liu View PDF HTML (experimental) TeX Source view license Additional Features Audio Summary Current browse context: cs.RO new | recent | 2026-10 Change to browse by: cs cs.SY eess eess.SY References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)