Abstract: A method includes, at a mobile chassis: detecting presence of a plant in a crop row based on an image of the crop bed captured by a LIDAR sensor integrated into the mobile chassis; estimating a first distance from the plant to a first weeding tool aligned to the crop row and coupled to a front of a rail mounted to the mobile chassis; estimating a second distance from the plant to a second weeding tool aligned to the crop row and coupled to a rear of the rail; driving the first weeding tool according to a first pathway to locate the first weeding tool on a first side of the plant at a first time; and, driving the second weeding tool according to a second pathway to locate the second weeding tool on a second side of the plant at a second time succeeding the first time.